How can I import OSM data into ESRI?

You can download OSM data in shapefile format, which you can load into ESRI. Cloudmade provide these downloads for the states of the USA, see Cloudmade Downloads.

Or you can donwload data in OSM XML format, then convert it to shapefiles. There is some software to do this on the wiki page on Shapefiles.

Esri also offers a free and open extension to read and write OpenStreetMap data directly. Check it out at the codeplex download site.

Those tools will take care of the data but symbology is a different topic. To get started with the appropriate symbology please take a look at the Esri Mapping Blog with symbology templates at the template site.

I think that you can use QGis for converting the data.

So you have to:

• Import the OSM data in a postgis database (using osm2pgsql)
• load wanted data in qgis ("add a postgis layer" feature)
• export the layer to your desired format

You can try to use (software name removed) from (link removed) to downlaod Openstreet Maps to disk and create ESRI world file.
(software name removed) is mapping software that allows you to download both satellite imagery, topographic and road maps from OpenStreet Maps. All downloaded map segments are saved on the disk for offline use. You can save maps in several image formats ( .Bmp, .Jpg,..Gif, .Tif, .Png). Georeferencing data can be saved in XML format or ESRI World Files can be created in several formats ( .Bpw, .Jgw, .Gfw, .Tfw, .Pgw).