My program of choice is CuteFTP:
http://www.cuteftp.com
It's not free, but is an easy to use program that does exactly what you need. I think you get a free trial when you download from their site.
WS_FTP LE was a popular free program, but it has now been replaced with WS_FTP home which can be used for 30 days until you need to part with cash. It was never my favourite but it has many followers:
http://www.ipswitch.com