If your truck is 4X4, make sure the selector is switched to 2WD mode and not auto. If your truck isn't 4X4, proceed regardless.
With the truck running & in drive, immediately to the left of the 4-way flasher button is advance trac traction control. Press it one time and release, you should see the icon burning steady in the message center between gauges. Now press it again and hold down for about 5-7 seconds until you see that icon flashing in the message center.
Drive up to 30MPH and turn on and set cruise control. If brake light does NOT illuminate, you'll want to get a better quality scanner as suggested, one that can diagnose Control Trac. Chances are there is an issue with a tone ring or reader at one of the 4 wheels.