It takes me 10 minutes to walk to school. I walk to school in 10 minutes. I can walk to school in 10 minutes. The walk to school takes me 10 minutes. The walk to school takes 10 minutes.

It takeS me 10 minutes to walk to school. That is the most correct way and how I would say it. If you want to use the second way (first is still better in my opinion), it would be "I (usually) walk to school IN 10 minutes.