Have there been any wheel swaps done, flat tire, anything that might damage a wheel sensor? I'm assuming you have checked the air pressure in the tires, it must be done cold!!
But to answer your question, you can't. It requires a special tool. [to train the sensors] So your going to have to take it to a Ford or Lincoln dealer. Here is the shop manual instructions.
TPMS Indicator and Message Center Messages
The TPMS indicator and vehicle message center (if equipped) sometimes displays faults that cannot be resolved by the customer. Treat these messages as TPMS faults that must be serviced.
TPMS Indicator Illuminates Continuously
NOTE: If the spare tire is in use, the damaged road tire must be repaired and installed on the vehicle to restore complete TPMS functionality before carrying out any diagnosis.
NOTE: The TPMS sensors do not transmit when the vehicle is stationary. If the vehicle has been stationary for more than 30 minutes, it will be necessary to wake up the sensors so they will transmit the latest tire pressure information to the SJB.
TPMS Indicator Flashes
The TPMS indicator flashes for 70 seconds and then remains ON solid when the ignition key is turned to the ON position for the following conditions:
Inspection and Verification
NOTE: The tire pressure sensors are not designed to be used with aftermarket wheels.
NOTE: The use of run-flat tires (tires with steel body cord plies in the tire sidewall) where not originally equipped, may cause the TPMS system to malfunction and is therefore not recommended.
NOTE: The valve-mounted TPMS sensors and the strap-mounted TPMS sensors are not compatible. Swapping wheels from one vehicle to another with the different systems will adversely affect TPMS operation.
NOTE: Swapping wheels between vehicles with the same TPMS will cause a TPMS fault to be set if the sensors are not trained. Refer to Tire Pressure Monitoring System (TPMS) Sensor Training in this section.
NOTE: Non-original equipment manufacturer (OEM) modifications made to the vehicle may result in false TPMS warnings.