There is a reason boxers jump rope.

If you can, I would learn to do double unders...and then do a tabata of double unders. That should be a good workout.

I would consider regular jumping rope it in the same category doing intervals in running/swimming/biking, so that is how I would treat the workouts (at least, until you can do 5 mins without stopping). So while you are learning to do double unders, I would maybe just do 5-6 sets of regular jumping to a certain number so that the last 3 sets are very challenging. One or two sets won't cut it.