Components required to control the Speed of Wilo Para AC Synchronous Motor
You do not want a "0-10V PWM signal". There is no such thing.

There are generally 2 methods of controlling motors like these: 


Through a variable analog voltage between 0V and 10V, where the voltage given is proportional to the speed, and
Using a digital PWM signal where the duty cycle is proportional to the speed.


You are getting confused and combining the two together (and to be honest that datasheet, which is really little more than a sales brochure, doesn't help matters).

Typically a PWM input on a motor uses a standard TTL signalling method.  This specific motor, as detailed in this document uses a slight modification on the standard. It requires a minimum of 3.6V for a HIGH, and the ESP32 gives 3.3V maximum.

Because of that you will need to amplify, or "boost" the signal to a slightly higher voltage.  The simplest way to do that is with an off-the-shelf logic level translator (3.3V to 5V). There are cheap MOSFET based ones on eBay etc that will do the job.

If you want to create your own the circuit is quite simple, and requires one N-channel MOSFET and two resistors. I use the BSS138:







simulate this circuit &ndash; Schematic created using CircuitLab