First, since the truck was stuck it's possible that the issue was only that it confused the abs module. This can happen when you have wheels spinning and some not. Even when you have the wheel turned tight or something while giving it gas to get it unstuck. So, it's quite possible you reset the system when you turned it off.
Now, when you drive it, if the light pops back on, then chances are good it's a wheel speed sensor issue. See, if the truck has to be moving for the light to come back on, then it usually points to a wheel speed sensor. If that happens, then it's best to get the codes to figure out which one needs to be replaced.
If it does come back on after driving it, it's still safe to drive, it's an electrical issue, but the mechanical brakes will still be fine. Light comes back, look at the wires to the sensors and the tone rings on the front axle. Make sure none are broken or split. Sometimes the tone rings split on these.
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