Welcome to TRS
You want a Compression tester gauge with spark plug threaded hose
Harbor Freight has a test kit for $30, seen here:
https://www.harborfreight.com/compression-test-kit-8-pc-62638.html
You remove ALL spark plugs first
Then you screw in the hose fitting to 1 cylinders spark plug hole, and hook up the gauge
You then use the starter motor to turn the engine over, count to 5, then stop cranking engine
Write down the pressure shown on the gauge along with cylinder number, 1 to 6
Then release the pressure in the gauge
Move hose to next cylinder
Once you have tested all 6 cylinders you can then COMPARE the 6 pressures to see if any are 10-15% lower than the average
A compression number like 140psi means nothing on its own, could mean low battery voltage, incorrect pressure gauge(even new), poor testing method, leaking hose, ect.....................
By testing ALL 6 cylinders at the same time you will have taken all other things off the table so you can make a diagnoses
If you have 1 or 2 cylinders that are below the average then you would add a teaspoon of engine oil via spark plug hole, and then re-test compression, pressure WILL go up, but unless it goes up fully to the average you have diagnosed a Valve Issue
Just a heads up, there was a TSB for 2004 to 2006 Rangers with 3.0l engines
These years could have defective exhaust valve seats causing low compression in some cylinders
Only fix was replacing the heads or having a valve job done, replacing seats and exhaust valves
Even though the seats were "defective" its way out of any recall or warranty
If you want to avoid all this you can just do the "dollar bill test"
Google: dollar bill exhaust pipe test
It will tell you if your misfires are burnt/damaged exhaust valves
And so heads need to be changed
You can also use a Lighter next to tail pipe, if flame gets SUCKED IN that means burnt exhaust valve, seen here:
https://mechanics.stackexchange.com/questions/61284/why-would-a-lighter-flame-go-into-an-exhaust-pipe
When an exhaust valve is not sealing, compression drops which causes the misfires, but what also happens is that on the INTAKE stroke when cylinder has 18" of vacuum applied that unsealed exhaust valve SUCKS IN exhaust, you can see that at the tail pipe by the Bill being SUCKED towards the tail pipe or the Flame being SUCKED IN
Working engine should have a constant OUT flow at the exhaust tail pipe
A cylinder that is misfiring from a bad spark or injector issue wouldn't cause the SUCKING, backwards flow, at tail pipe