Source: http://www.jcraft.com/eclipse-sftp/
You need Eclipse SDK 3.3(or higher) to enjoy this software.
1. Help > Software Updates > Find and Install…
2. Choose Search for new features to install
3. Click New Remote Site…, and then put http://eclipse.jcraft.com/ for the URL field.
4. Choose SFTP Plug-in, and then click Select Required button.
For Eclipse SDK 3.2, try the Update Site http://eclipse.jcraft.com/3.2/