System: MacBook Pro 13 2017 inch model
I was able to make the Touch ID work again by deleting all of the finger scans that I had set up. I did this through the System Preferences and clicking on Touch ID. After deleting all of the finger scans, I restarted my MacBook Pro and just set up ONE finger print. I restarted my MacBook Pro again, logged in using my password, and let the system go into sleep mode by itself and then tapped on the spacebar to wake the system and the touchbar prompted me for my fingerprint to enter the system.
I will try to set up the other two finger scans allowed in the Touch ID system preference and see what happens. Thus, this is not a hardware issue but a software issue. When I set up the other finger scans, I plan to set them up ONE at a time and restarting up the MacBook Pro after each finger scan added and see if the touchbar asks me for my fingerprint scan to enter the system after the system goes to sleep on its own. I will post an update to this. Until then, I hope this helps anyone having this issue. Take care.