There are several FTP apps that can do just that. Astro file manager can 
create SFTP connections to upload files, or AndFTP... (there's a whole bunch 
if you search for FTP on the Android Market).

If you're talking about uploading a file to a public server from an app 
you're developing, then you can use HTTP POST methods or a custom built FTP 
uploader.

--Nick

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