Though not often used, I have embedded a TFTP server into Net Tools. TFTP is mostly used for booting machines over the network or transfer files very quickly on a local network:
This TFTP server should be fully featured. If you think that something is missing, please create a ticket.
TFTP is much simpler than FTP. For instance, TFTP clients cannot browse the remote directory. TFTP is thus quite limited to very specific usage.