[ms:~] # grep tftp /etc/inetd.conf 
tftp    dgram   udp     wait    root    /usr/libexec/tftpd      tftpd -l -s /tftpboot

[ms:~] # mkdir /tftpboot
[ms:~] # cat /tftpboot/test.txt
Hello
World

[ms:~] # /etc/rc.d/inetd rcvar

[ms:~] # cat /etc/rc.conf
...
inetd_enable=YES
...

[ms:~] # /etc/rc.d/inetd start
Starting inetd.

# pkg_add -r utftpd

# cd /usr/local/etc/

# cat utftpd.conf
client default {
        uid=nobody;
        dir="/tftpboot";
        read="/";
        write="/";
        create="/";
}

# utftpd_make utftpd.conf.cdb utftpd.conf.tmp utftpd.conf

# grep tftp /etc/inetd.conf
tftp    dgram   udp     wait    root    /usr/local/sbin/utftpd  utftpd -c /usr/local/etc/utftpd.conf.cdb

# /etc/rc.d/inetd restart