Salesforce - apex - how to connect / transfer data to FTP server from Salesforce.com

1. Using salesforce API  ( e.g. Java APIs ) 
• Java program can connect with Salesforce.com and FTP server and you have better control
• generate jar file and schedule job as regular scheduling you do
2. You can also use Salesforce.com Dataloader command line interface ( CLI ) and can schedule .bat on windows or .sh and cron job on Linux / unix.