CBOR has both fixed-set and indefinite variants of Object; Jackson by default uses indefinite length (indicates end by marker byte). So you do not have to do anything.
As to length-prefixed encoding: this is not yet supported, although there is an issue:
requesting it to be supported. If anyone has the itch, contributions are welcome: streaming level API exists for passing this information but generator needs to add verification that size will be obeyed, to avoid encoding invalid content. Such checking is implemented for Array output already, fwtw, so that could serve as inspiration.