Ghana will now face hosts Côte d’Ivoire in the final on Saturday, while the Falcons and Mali will do battle in the third-place match also on Saturday.
In the first semi-final also played on Thursday, hosts Côte d’Ivoire defeated Mali 2-0.
Very early in the game, Rasheedat Ajibade almost gave the Falcons an early lead from a corner only to be stopped by Patricia Mantey.
The Falcons eventually took the lead in the eighth minute following a header from Ogebe from a cross.
Ghana were back on level terms in the 17th minute thanks to Ampah who pounced on a goalmouth scramble and slotted home to make it 1-1.
In the 38th minute, the Falcons went close to taking the lead again after Osas Igbinovia played Anam Imo through on goal only for the latter to blast her effort over the bar from the edge of the box.
It was a tight contest in the second half as both teams were evenly matched with chances coming at a premium.
After 90 minutes with both teams failing to score the winner, the game went straight to penalties.