You haven't given a model year, mileage, or any info about maintenance history. In general, lacking that kind of info makes it harder for people to say anything.
But in any case, these lights are not things that call for guessing. The ESC is a computer controlled system and it turns on the light when a problem is detected. The computer will hold error codes that give one a starting point for diagnosis.
Is your check engine light also on? If so, go to a big box-type auto parts store where you can get error codes read for free. I suspect, however, that normal code readers probably can't tap into ESC system issues in which case you will need a shop with the proper scanning equipment.