The EDK-II UEFI Intel BDS menus do not support configuration of a standalone TFTP server, as the expectation is that in a commercial environment this information is returned by a DHCP server.
This may not be practical in a development environment.
One workaround is to use the EDK II UEFI shell TFTP command to download a remote kernel image and DTB:
TFTP
Shell> help TFTP Download a file from TFTP server. TFTP [-i interface] [-l <port>] [-r <port>] [-c <retry count>] [-t <timeout>] host remotefilepath [localfilepath]