虽然Ivar提供了答案already in his comment，但下面是我的实现，它返回您想要的结果。

DefaultPrettyPrinter pp = new MyPrettyPrinter();

        ObjectMapper mapper = new ObjectMapper().enable(SerializationFeature.INDENT_OUTPUT);;
        try {
            jsonResult = mapper.writer(pp)
                    .writeValueAsString(map);
        }
        catch (JsonProcessingException e) {
            throw new RuntimeException(e);
        }

其中MyPrettyPrinter如下：

public class MyPrettyPrinter extends DefaultPrettyPrinter {

@Override
public DefaultPrettyPrinter createInstance() {
    return new MyPrettyPrinter();
}

@Override
public void writeObjectFieldValueSeparator(JsonGenerator jg) throws IOException {
    jg.writeRaw(": ");
}

}