While the exact interface may vary depending on the camera firmware version, here are the steps for the latest firmware in newer Hikvision cameras.
Browse to the FTP configuration on the camera. This is done by logging into the camera firmware web page once you know it's IP address. For example : http://192.168.0.93 To discover the cameras IP address you can look at devices connected to your router or use Hikvisions SADP tool.
Then go to Configuration -> Event -> Alarm Setting -> FTP. Enter ftp.teleport.io as the server and feed ID as username, and password provided on the feed dashboard 'Live image' tab. You can hit Test to see if the camera reports it as successful. Note the test itself will not show the image on the Teleport feed.
One more step is required to have the camera upload images. It needs a schedule or some sort of triggering event. In the Configuration -> Storage -> Schedule Settings draw in blue when you'd like to upload images, and select a capture interval. Hit save and you will see live images on your Teleport feed!