SFTP stands for SSH File Transfer Protocol. It's not FTP over SSL and not FTP over SSH. SFTP is standardized in RFC 4253.
FTP stands for File Transfer Protocol which is defined by RFC 959 and latter additions. FTP is very popular but not secured. Therefore FTP over SSL was introduced and it's called FTPS or FTP/SSL.
For authentication SFTP use SSH keys, while FTPS use X.509 certificates.