What Judaism teaches
Jesus commanded his disciples to preach to the Jews only. However, his disciples preached to the gentiles as well.
In Matthew 10:5-6 Jesus told his disciples not to preach to the Gentiles during the early part of his ministry when he wanted to focus on the Jews first.
These twelve Jesus sent out with the following instructions: “Do not go among the Gentiles or enter any town of the Samaritans. Go rather to the lost sheep of Israel.
This, however, was only for that particular mission. Jesus’ mission was for the whole world.
Matthew 28:19-20 Therefore go and make disciples of all nations, baptizing them in the name of the Father and of the Son and of the Holy Spirit, and teaching them to obey everything I have commanded you.