My ESC light came on and stays on

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Can't tell you what's wrong from where I sit but I can tell you that it's time for you to get to a Kia specialist and get a diagnosis. If the light's on, there's data and trouble codes stored in the controller and a technician with a scanner could diagnose the problem. I wouldn't expect the cruise control to work when there's a fault in the ESC system since they rely on the same data from the wheel speed sensors (WSS), etc. in the overall system. It's possible there's a problem with a WSS, like contamination or a faulty sensor, that's fairly simple and inexpensive. You'll have to commit to probably an hour's labor time for a diagnosis. find a Kia specialist. Here's a directory link for you: https://repairpal.com/kia-repair-in-fort-worth-texas