19 year old male, and my ankles crack whenever i walk barefoot, but the don't hurt, what should i do?

Nothing: Painless ankle cracking is much like knuckle cracking - it's caused by tendons snapping over their bones. Others think it's from escaping gases from the joint. It's normal. Check out this link: http://www.Loc.Gov/rr/scitech/mysteries/joint.Html.

Ankle crack: Often times it really is not the ankle joint that is "cracking" but the joint just below the ankle - the subtaylor joint. This is most often in patients with flat feet (heels are outside of the leg). A good arch support can help, sometimes a custom orthotic or brace. Sometimes surgery is required to realign the foot if that is what you have. See you local podiatrist and get to the bottom of this.