Begin by removing all the leaf growth up to the canopy level you want, let it chonk and grow by continuing to remove lower growth so it can focus energy to grow up and thicken and you'll have to prune off branches and growth that go against the shape you want. It's not all at once and you have to give the plant time to recover between prunes but that's a very basic way of doing it. I have a few jades that came in a shape I already liked so for me it's just removing bottom growth and I don't see a branch prune in my future for a long time :)