Chris
The first step is to have the image stored on a device that is running FTP as a server. Then depending on whether you want to run anonymous FTP or FTP with user names you may need to configure a user name with privileges to run FTP on the FTP server. If you have configured a username and password on the server then you will need to configure the same username and password on the router (ip ftp username and ip ftp password). Then on the router do copy ftp flash instead of copy tftp flash. Follow the prompts for address, image name, etc.
HTH
Rick
HTH
Rick