Most likely you front wheel bearing is bad, replace both front hubs and save yourself the hassle, they come with new sensors.
If you wanna check, jack up the front end to get the weight off the tire. Move the tire left and right as if you were turning it manually and push up and down on the sidewall with your hands when you are in front of the tire looking at it. . Check both sides. You should have no movement.
If you have movement then most likely the bearing is bad. Like I said, replace both hub assemblies if needed, they come with new ABS sensors.
Here is the How TO
Note: After you get the 3 bolts out from the spindle you may need to beat the shit out of the hub with sledge hammer to get the bearings to separate from the knuckle.
Second Note: The best way to disable the ABS is just to unplug the module, not pulling the fuse. That way you have absolutely no ABS engagement and no ABS light on the dash. Currently mine is disconnected because I hate the ABS on these trucks.