Use the characteristic function (cf), because the cf of a mixture is a mixture of the cfs.
By definition, the cf of a distribution $F$ is
$$\phi_F(t) = \mathbb{E}_{X\sim F}\left(\exp(itX)\right).$$
Because this is an expectation, it is a linear functional of $F.$ This is what makes the next steps possible (and simple).
Consider a bivariate random variable $(U,X)$ whose conditional cfs are known. That is, associated with each possible value $u$ of $U$ there is a conditional distribution $F_u$ governing the conditional response $X_u$ with cf
$$\phi(t,u) = \mathbb{E}_{X_u\sim F_u}\left(\exp(itX_u)\right).$$
Integrating out $u$ (governed by its marginal distribution $G$) must yield the marginal cf for $X$:
$$\phi(t) = \mathbb{E}\left(\exp(itX)\right) = \mathbb{E}_{U\sim G}\left(\mathbb{E}_{X_\sim F_u}\left(\exp(itX_u)\right)\right)=\int \phi(t,u) dG(u).\tag{*}$$
In the question, $U$ has a Bernoulli$(p)$ distribution, which makes the right hand side of $(*)$ a simple sum of two cfs. $X_0$ is an atom at zero (with characteristic function $\phi_0(t)=1$), and $X_1$ has a Poisson$(\lambda)$ distribution with cf
$$\phi_\lambda(t) = \exp\left(\lambda\left(e^{it}-1\right)\right).\tag{**}$$
Therefore
$$\phi(t) = (1-p) + p\exp\left(\lambda\left(e^{it}-1\right)\right).$$
By definition, the cumulant generating function (cgf) is the logarithm of $\phi,$
$$\psi_F(t) = \log \phi_F(t).$$
Letting $\psi_\lambda$ be the cgf of the Poisson distribution given at $(**),$ we may write
$$\psi(t) = \log\left(1-p + p \exp(\psi_\lambda(t)\right).$$
The terms of its Maclaurin series $\psi(t) = \kappa_1 t + \frac{\kappa_2 t}{2!} + \cdots + \frac{\kappa_n t^n}{n!} + \cdots$ are the cumulants
$$(\kappa_1,\kappa_2,\kappa_3, \ldots) = \left(p\lambda,\ p\lambda(1+\lambda(p-1)),\ p\lambda (1+\lambda (p-1) (\lambda (2 p-1)-3)),\ \ldots\right).$$
You can obtain direct formulas by computing the logarithms of truncated MacLaurin series of the exponential. (I haven't done the analysis to see whether there is some nice formula, but clearly $\kappa_{2n}$ and $\kappa_{2n+1}$ are polynomials of degree $n$ in $\lambda^2$ with few or no zero terms.)