Traveling in Germany where there is a culture of biking and walking I found that jaywalking is never the less very much frowned upon by regular people and they see it as a transgression of norms.
I think that principle of respect shows up a lot in infrastructure. When it seems like it was designed for people to enjoy using you get much better results than the quasi-penal school of public architecture which is sadly common.
Away (enough) from traffic lights, crossing streets is perfectly fine, but you have to watch the traffic. Walking on a street (i.e. not just crossing it) can be considered a "traffic hazard" (if there is any traffic to begin with) and may result in a fine as well. One thing clearly forbidden is crossing an Autobahn by foot which is why there are always bridges or tunnels to cross it, for pedestrians and other traffic alike.