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After experimenting some more, it seems Jenkins cuts the ties to the child process too soon after sending the TERM signal. Some times, when the job runs on the master, I do see the message from the SIGTERM trap, and a lot of times, I don't see it. This makes it hard to tell what really happens. It looks like Jenkins simply needs to wait for the job process to cut the ties to stdout/stderr before it stops listening to the job itself.
On IRC (May 8, 2013), there was a discussion on changing SIGTERM to SIGTERM -> wait 10 sec -> SIGKILL, but I would prefer if this delay was configurable or even optional, as the clean up done by a properly behaving job could take more than 10 seconds (and it does take a few minutes in my case due to a very large amount of small files to clean up on NFS).
Here are loosely related but different requests:
JENKINS-11995
JENKINS-11996