check out my friends site, here, he has instructions how to diagnose check engine and ABS lights. They are for a 97 CL, but the codes are the same for a 5th gen Accord.

Usually cleaning the sensors is not enough, as its the sensor itself that goes bad, and these are usually the culprit of that little light being on. I need to change one of my sensors too, but I dont have the $100 or so to buy one, so I just unplugged my ABS computer in the passenger side kick panel till I can get a sensor, this way I dont have to stare at that light. I'll warn you though, the brakes are rather sensitive without the ABS, they lock up pretty easily, so be careful to not flat-spot your tires.