Digi has a repository with sample code and libraries at https://github.com/digidotcom/xbee-micropython, but nothing related to JWT.
You might be able to port one of the smaller Python-based libraries, or potentially roll your own with support for a minimal subset of the spec necessary to connect to Google IoT Core.
MicroPython on XBee Cellular includes SHA256 support in uhashlib, base64-related code in ubinascii and JSON-handling code in ujson. Does that cover the necessary pieces to work with JWT?