Dtc?
According to the 2004 Ranger electrical diagram with the 3.0L V6 the PCM monitors the output of the fuel pump relay. If voltage isn't present when its supposed to be (engine cranking or running) the PCM probably sets a DTC. Are any codes present?
Did you check fuse 23 (20 amps) in the battery junction box?
Did you try resetting the inertia fuel shut-off switch?
Did you measure the fuel pump voltage when the starter was cranking the engine? On my 2000 Sport the PCM disables the fuel pump relay when the starter is cranking if the crankshaft position (CKP) sensor is not "notifying" the PCM that the crankshaft is rotating. You might try cleaning the contacts on the CKP sensor connector by disconnecting/reconnecting it a couple times.