dont waste your time with resistors, sims, drilling, or extensions...just get a tune to eliminate them if you want them gone. it will stop the SES light, it will do everything. and on top of that you can get the PCM tuned better all around.
and since there seems to be some possibly confusing info. there are 2 kinds of factory O2 sensors, those before the cats, and those after the cats. if you have both in your truck, the post cat sensors are the ones you can eliminate, what they do is monitor the catylitic converter efficiency and really don't have an effect on the A/F ratio or drivability. the pre-cat sensors on the other hand are directly responsible for monitoring and altering the air fuel ratio and will result in problems, and drivability issues if they are removed... there are reasons to remove the pre-cat O2 sensors and only run in open loop, but there's no reason to go into that here. and there's no reason to do so unless you're doing some OL tuning yourself.
with that said, get a tune. if you absolutely don't want to get a tune, you can just run without the post cat O2 sensors, it will throw a SES light on all the time, but it will not affect drivability. but personally, I'd rather have the SES light be usefull and actually tell me when something is wrong, rather than just having it on all the time because of something like this.