My esp and bas light will not go off on my 2007 jeep wrangler how can i get it off and what does it mean and also is thera a code that i need to get it off

The ESP/BAS system is a separate system from the engine computer/check engine light system, if your steering wheel is off center just a 1/2 degree, the light will set. Most scanners will not detect a code. It takes the Jeep protocol to reset it.
I hope this helps.

Depending upon where you see this warning light, you may need a new ABS module.
However if your odometer simply says: ESPOFF
You have a possible fix available.
Like most modern cars the Wrangler can have some settings changed by some combination of ignition-On with seatbelt lock repeated 3 times = no more door dinger...right?
Well it's not in the owners manual, but there is a secret ESPOFF mode available when you are in 4WD. This disables almost all traction control, antilock brakes, and stability control so know what you are doing here.
Unfortunately, as soon as you shutdown, or shift out of 4WD it resets to nanny-mode enabled...unless you lookup the Full ESPOFF always hack on the jeep forums.
It involves turning the steering wheel 1/4 turn back and forth many times along with depressing the ESP button and holding it for # seconds... I would caution against this for almost everybody.
I used to drive down long curvy gravel roads daily...drifting around turns, yeah it was fun.
But my daughter a new driver at age 16 needed ABS and every computer available to protect her. So I didn't feel safe letting her drive it totally unlocked.
So depending in where you see it, you may have a problem or you may have an opportunity... Be careful but have fun out there.