Assuming you're talking about your basic hydraulic scissor or bottle jack...
The frame is a lousy jack point, as when you crank it up, the axles just sit and the springs stretch a little. Assuming your truck is 4WD, then yep, the only particularly good jack points are the axles. (2WD trucks have IFS, so then you can use the crossmember or around the lower A-arms.)
Depending on the seat on your jack and its capacity, you may be able to jack the truck at the bottom of the differential, sure, or you may find it easier/safer/more convenient to jack at each outer edge of the axle, i.e. around the U-joints.
-- A