Ramps are the safest, all things being equal. The OEM "felt" transmission cover has to be removed to change the oil. With the Expedition at the ramp up angle, the oil draining out of the pan will spill onto the sway bar and go a little wild unless there are other parts installed to deflect the oil. Additionally, the filter has a plastic flow diverter that will spill the filter drain oil onto the engine skid pan (My FX4 has one, I'm unsure if all models have them). If you have a front skid pan behind the front bumper, removing it gives much more open access to the oil filter.
Personally, I do oil changes and tire rotations at the same time every 5K; so, I use (4) air jacks, one under each jack "arrow" punched into the frame, to lift the entire truck until all 4 wheels are in the air. Then I reinforce with (4) jack stands placed closely behind the jacks. I leave the frame resting on all 8 for redundancy. Less open than with ramps, but still plenty of room. The straight lift eliminates the sway bar interference and allows the filter drain to drop straight through the small hole provided in the engine skid plate. I have installed a Raptor transmission plate in place of the useless felt piece that has a removable small oil drain access plate as part of the assembly. I always remove the front skid plate for filter access, I take the opportunity to wash the mud off of the skid plate. I have an oil drain reservoir on wheels large enough to span the filter and pan drains, which helps.