In this paper, we investigate the issue of uplink integrated sensing and communication (ISAC) in 6G wireless networks where the sensing echo signal and the communication signal are received simultaneously at the base station (BS). To effectively mitigate the mutual interference between sensing and communication caused by the sharing of spectrum and hardware resources, we provide a joint sensing transmit waveform and communication receive beamforming design with the objective of maximizing the weighted sum of normalized sensing rate and normalized communication rate. It is formulated as a computationally complicated non-convex optimization problem, which is quite difficult to be solved by conventional optimization methods. To this end, we first make a series of equivalent transformation on the optimization problem to reduce the design complexity, and then develop a deep learning (DL)-based scheme to enhance the overall performance of ISAC. Both theoretical analysis and simulation results confirm the effectiveness and robustness of the proposed DL-based scheme for ISAC in 6G wireless networks.