In application.properties file put this code

spring.mvc.view.prefix=/WEB-INF/jsp/
spring.mvc.view.suffix=.jsp

Also add following dependencies:

<dependency>
        <groupId>org.apache.tomcat.embed</groupId>
        <artifactId>tomcat-embed-jasper</artifactId>
        <version>10.1.30</version>
    </dependency>

    <dependency>
        <groupId>jakarta.servlet.jsp.jstl</groupId>
        <artifactId>jakarta.servlet.jsp.jstl-api</artifactId>
    </dependency>

    <dependency>
        <groupId>org.glassfish.web</groupId>
        <artifactId>jakarta.servlet.jsp.jstl</artifactId>
    </dependency>