I have a 2003 Chevy s10, with a 4.3 V6, the gas is clear with a little bit of gas in it. It will not start, but will crank.
I have removed the fuel filter and wondering if I need to drain the fuel tank? I left the battery cables intact and the fuel has drained out, I know this is wrong but is all the fuel out of the tank?
Can I just put a fresh fuel filter in it and add fresh fuel to the tank in hopes that it will start and run?

Replace the fuel filter & add gas to the tank. A gasoline engine needs 3 things to operate: fuel, compression of that fuel mixture and ignition. Assuming that this engine was previously operating, the compression issue is negated. Now ensure that the fuel is getting from the tank to the engine and that ignition power is being provided to the spark plugs. One of these two items are missing.

Put a new filter in and make sure there's fuel in the tank. It sounds like your pump is working fine, as you said the fuel kept coming out when the key was on. You may need a tune up and also a new ignition module. Do you know the last time you did the plugs, wires, cap & rotor?