Welcome to TRS
Try 50/50 test anytime you have a Crank but No Start
Spray fuel into the engine, i.e. gasoline, ether(quick start), carb cleaner, ect..................
Try to start
If it starts and then dies you have a fuel delivery issue
If it doesn't start then its a Spark issue
50/50 instant results, no guessing
Don't over think it, its a gasoline engine so needs 3 things
Compression
Spark
Fuel
Generally speaking compression issues just effect 1 or 2 cylinders, burnt valves
But you can check 1 or 2 cylinders if possible, above 150psi is expected
Which leaves spark or fuel, so do the 50/50 test and let us know
Watch the CEL(check engine light) on the dash
It should come on with Key ON, that means computer has powered up
It should GO OFF as soon as engine starts to turn using starter motor, this means computer is getting a timing signal from Crank Sensor and Cam sensor
If CEL stays on then check that crank sensor is plugged in, no spark and no fuel without crank sensor signal
2000 Ranger 3.0l and 2005 Taurus 3.0l should use the same 2 wire Cam sensor, 3.0l can also get a no start with no Cam Sensor signal, its an oil pump thing