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The keys need to be pressed simultaneously (you can hold down Shift, but you need to press W and click LMB at the exact same time to perform a jump attack; you cannot hold down W and then press LMB, or press one and then the other).
The timing is really exact, so it can take some tries to pull it off. In practice, I'm not good at it (I seem to be able to kick reliably, but not jump attacks), so I mostly don't bother.
By default, jumping requires you to tap the run key while already sprinting (meaning, hold down the Space bar to sprint, and then quickly release and tap it again to perform a jump). You can change this in the keybindings (you'll always have to be sprinting to perform a jump, but you can assign the actual jump to any key).
It was worse in DS2, though. The input delay on mouse control (caused by their double-click insanity) meant you needed to click LMB *before* pressing W (so they'd both register at the same time) and made jump attacks practically impossible (since you needed to double-click and then press W at the exact moment you made the second click).
The game is definitely designed for play with a controller. Keyboard and mouse is doable, but there are some things (like this) that I don't think will ever feel right. That said, you can re-bind most everything, so there are more natural combinations for somebody willing to play around with the settings a bit.
It's designed to be played with a controller, so that will always be the most natural option, but it's definitely possible to play without one. Certainly, if you feel that's the only way for you to have fun (or if you want to do a lot of PvP), but it's not required (it'll just be more difficult to do some things, like jumping attacks).
I'd recommend looking at the keybindings menu to see the default layout (and try some changes if you feel like it).