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Any OTP compatible SSH/SFTP client will work. The following instructions show how to connect with Filezilla.
1. Create a new "site" for the server you want to connect to if you don't already have one. You have to use a properly configured site to connect to the server since the "Quick Connect" function of Filezilla does not support OTPs. To create a new site, select the top menu bar option File | Site Manager... In the window that appears, press the button to create a new site.
2. Configure your site like the screenshot below. The most important setting is the "Logon Type" setting of "Interactive". Customize the settings for the server you are connecting to as appropriate.
3. Connect to the server by opening up the site you created and pressing its "Connect" button.
4. You will then be prompted for your server username, password, and OTP. Use your OTP app to generate the needed OTP.
5. If all your credentials are correct, your login to the server will successfully complete. If you get an invalid password error and you are certain you entered the correct username and password, wait until your OTP app automatically generates another OTP and then try logging in with that new OTP.