Dealer $A$ in Chicago will buy pounds a year from now at a rate of $\$1.58$ to a pound. Dealer $B$ in London will sell pounds immediately at a rate of $\$1.60$ a pound. Furthermore, dollars can be borrowed at an annual rate of $4\%$ while pounds can be invested with an annual interest of $6\%$.
How do I find the arbitrage in this scenario?

You have two choices. The wording, which talks of investing pounds and borrowing dollars, suggests you should buy pounds now, hold them a year, and sell them to pay back the dollars you borrowed to buy the pounds. It doesn't matter how many pounds you buy, so assume one. How many dollars does that take? In one year, how many pounds do you have? When you sell them, how many dollars will you receive? How many dollars do you owe at the end of the year? If you have more dollars than needed to pay off the debt, that is your profit.
If you don't have enough dollars to pay off the debt, you just need to go the other way around. Sell pounds now, invest the dollars, sell the dollars in a year and pay off the pound loan. Since pounds are declining compared to dollars you don't want to own them