subset(data, grepl(paste0("^",IDfilter,collapse="|"), ID))
ID sex size
1 0120010 M 7
2 0120020 F 6
3 0121031 F 9
8 0150030 F 11
9 0150110 F 12
11 1150110 F 12
Note: "^" is to match the beginning of the string. I'm assuming there are only digits in your filters.