FTP is a seperate animal from HTTP. Most people use PHP to play with HTTP.
FTP is designed just to transfer files to and from the FTP server. The FTP server is sort of in its own world - it doesn't interact with others unlike how Apache can integrate PHP, Perl, and other nifty tools.
So to allow folks to FTP their files to you, you'd have to setup/configure the FTP server and ideally a seperate FTP account. You'd probably want to lock down this FTP account so all they can do is upload files to a particular directory. You don't want to give them access to your web site files. At the same time, you'd probably online want to be able to have them upload files and not download or delete, or they may damage other people's uploaded files.
Can you use PHP to do this? In theory, you could build your own socket server to behave like an FTP server. But if your server already has an FTP server listening for connections, you can't have a PHP socket server listening on the same port. Which means you have to change the port and means you have to tell your FTP users to use the new port, which they may get confused about. On top of this, you'd have to have your socket server handle all the FTP commands (or only the ones you're interested in using).
Why not use PHP's built in FTP commands? Well, those commands are strictly for PHP scripts to connect and manage connections to existing FTP servers. For what you're looking to do, it doesn't make sense to use PHP. What might make sense is if a user didn't have FTP, you could setup a PHP page to allow for an HTTP upload. Then once the file makes it to the server, you could (for example) use the FTP commands built into PHP to transfer that file to another server that only has FTP. Not the most practical example, but it is an example.