Hello Abhiraj
Kudos to your plan though, I've always admired people who chose roads over train travels or flights ;)
The best route from Jaipur would be Jaipur-Udaipur-Ahmedabad-Mumbai-Pune-Goa.
You'll love the entire route if you follow this itinerary as I've covered this myself & I simply loved riding my motorbike through it :)
Enjoy :)