In Jump Force the level of your fighters increases by fighting. Leveling up your fighters earns them 'Support Skill Points' which are points that enable them to get new abilities that allow you to boost a certain aspect of their ratings. Once a figher reaches level 20 you will not be able to increase the level of that character to make them stronger.
At this point you will need to complete the 'Level 20 Limitbreaker' mission. This Extra Mission is on the easy difficulty and you will simply have to defeat Frieza, Goku and Piccolo in two out of three rounds. This mission can be found at the Mission Desk in the 'Extra Missions' tab. Completing the 'Level 20 Limitbreaker' mission will extend a fighters max level cap by 20 levels.