I don't use FTP so much now. For moving stuff to me web server I usually use webDAV. I do find it useful sometimes for moving things onto my 3DS, for this I use ftpd and GNU's basic FTP CLI tool, which is part of Inetutils. For anything fancier I've used FileZilla, and once upon a time CuteFTP (though it seems t ocost money now, so I'm not even gunna link it).
Basic commands for GNU's FTP tool:
ftp
to start. Then you get ftp's shellftp [server] [port]
EG: ftp 192.168.0.20 5000
ls
files and cd
.send [filename]
get [filename]
quit
to close.