For the (unsupported) versions of JIRA 6.3 and lower, all you have to do is make sure the "enable remote calls" flag is switched on in the "admin -> general settings" page.
For 6.4 and later, you don't. It was deprecated in version 4 and removed in version 6.4, so there's nothing there to enable. You will need to use REST instead
Cloud is updated to the latest version regularly. At the moment, you can think of the equivalent server version being 7.4.
I'm not sure what you need explaining - you can't use SOAP to talk to JIRA in recent versions, you need to use REST for whatever you are doing.
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