Yes, Jesus told the 12 teach and Baptize according to the gospel of the kingdom. What did Jesus tell Paul?
1 Cor 1:17 - For Christ sent me not to baptize, but to preach the gospel: not with wisdom of words, lest the cross of Christ should be made of none effect.
Paul was not sent on this so called "Great Commission". Paul preached an entirely different gospel. Paul preached Jesus Christ according to the revelation of the mystery.
Who was Paul sent by? Jesus Christ...
Christ told them to teach the Gentiles all that He had commanded them, Gentiles. Paul didn't preach a different Gospel, he preached the same one Jesus did.
KJV Acts 26:22 Having therefore obtained help of God, I continue unto this day, witnessing both to small and great,
saying none other things than those which the prophets and Moses did say should come: (Act 26:22 KJV)
Jesus,
KJV Acts 1:1 The former treatise have I made, O Theophilus, of all that
Jesus began both to do and teach,
2 Until the day in which he was taken up, after that he through the Holy Ghost had given commandments unto the apostles whom he had chosen:
3 To whom also he shewed himself alive after his passion by many infallible proofs, being seen of them forty days, and
speaking of the things pertaining to the kingdom of God: (Act 1:1-3 KJV)
Paul,
19 Serving the Lord with all humility of mind, and with many tears, and temptations, which befell me by the lying in wait of the Jews:
20 And how I kept back nothing that was profitable unto you, but have shewed you, and have taught you publickly, and from house to house,
21
Testifying both to the Jews, and also to the Greeks, repentance toward God, and faith toward our Lord Jesus Christ.
22 And now, behold, I go bound in the spirit unto Jerusalem, not knowing the things that shall befall me there:
23 Save that the Holy Ghost witnesseth in every city, saying that bonds and afflictions abide me. {abide me: or, wait for me}
24 But none of these things move me, neither count I my life dear unto myself, so that I might finish my course with joy, and the ministry, which I have received of the Lord Jesus, to testify the gospel of the grace of God.
25 And now, behold, I know that ye all,
among whom I have gone preaching the kingdom of God, shall see my face no more.
26 Wherefore I take you to record this day, that I am pure from the blood of all men.
27 For I have not shunned to declare unto you all the counsel of God. (Act 20:19-27 KJV)
28 Be it known therefore unto you, that
the salvation of God is sent unto the Gentiles, and that they will hear it.
29 And when he had said these words, the Jews departed, and had great reasoning among themselves.
30 And Paul dwelt two whole years in his own hired house, and received all that came in unto him,
31
Preaching the kingdom of God, and teaching those things which concern the Lord Jesus Christ, with all confidence, no man forbidding him. (Act 28:28-31 KJV)
They both preached the kingdom of God.