In the past years significant progress has been made toward achieving a quantitative understanding of jets and their substructure in high-energy proton-proton collisions from first principles in QCD. Precise measurements have become available from the experimental collaborations at the LHC and RHIC allowing a direct comparison of theoretical calculations and data. These developments make it possible to use jet substructure observables as precision probes in heavy-ion collisions. The radiation pattern inside jets contains valuable information about the hot and dense QCD medium which can be investigated using jet substructure techniques. By studying the soft sensitivity of the different observables it is possible to obtain important insights into the interaction of hard probes with the quark gluon plasma.