Kevin Schroeder has a method in one of his latest posts for hooking your linux-based system into Zend's phpcloud platform, complete with an automatic upload (so you're not constantly sftp-ing).

Connecting with the Zend DevCloud in Linux is actually quite easy if you know how to use SFTP. [...] But, as I said in a previous post, I hate having to do command line stuff for each and every file or commit. I like things to work seamlessly. So what I did was write a PHP script that connects to the DevCloud (or any SSH-based endpoint for that matter) and then monitors all of the files and directories for changes, such as a creation, modification or deletion event.

His script (available on github) uses the PECL inotify package to work, but once its set up, you can have the PHP process running the script in the background, pointed at your web root, and have it upload automatically.