2000 Mazda B3000 and when you are going down the street it is making a squealing noise could it be the brakes and when I step on the brakes it also make a noise?

Sounds like it is time for new brake pads, you should take it in and and have them replaced before you damage your rotors.

I think

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Most likely you have a caliper that is not releasing. I am replacing both calipers and pads tomorrow on my 1997 B2300 SE. My right caliper would squeal until I touched the break pedal but start squealing again. I drove it this way for 6 mos. till the pads were gone.