Which taurus is this? The regular old tuarus (originally came out in the 80s) with a duratech 30 3.0L V-6? Or is it the Ford 500 (now rebadged as Taurus) which is a completly different car that also came with the duratech 30, and later on (I think only 08s) with a duratech 35.
As for putting either engine in your ranger; well, anything is possible with enough time and money. However, In my opinion, the duratech 30 would be a waste of time. If I remember correctly, it is like 210 HP and 190 Ft*lbs. And you really have to spin it to see those HP. A ranger 4.0L (especially the SOHC) would probably feel much stronger. The duratech 35 (which I doubt is what you have) Is a brand new engine (just came out last year) and with it's 270 HP / 270 torque with a wide torque band would definatly motivate a ranger quite well. However, a D35 has probably never been put in a ranger yet. They haven't been given a chance to accumulate in the junk yards.
Since both engines are designed to be used in front wheel drive vehicles, finding a transmission to use is going to be hard. Keep in mind that the D30 is not related to the vulcan 3.0 in your ranger. Also since both the duratechs are DOHC, the engines are fairly large for there displacement and probably wont fit very well in a ranger, especially a pre 98 with TIB/TTB.
So at the very least, your probably going to have to figure out some transmission to use, swap a lot of electronics (I think 2007's are EEC-VI, as opposed to your ranger's EEC-IV), fabricate custom exhaust manifolds set up for RWD, and do a lot of rearranging of other components in the ranger's engine compartment to fit the bigger size motor in.