Increasing arduino PWM signal voltage from 5V to 10V using a transistor
As Bruce said, 5 Volts are usually enough to control the motor driver. But, for some reason if you need 10 Volts, and since this is a simple switching application, any transistor should work. You should do this:

circuit http://4.1m.yt/8yo1SjA.png

The value of the resistor will affect the current flowing, and the bandwidth.

p.s. the modulation will be inverted with this configuration, which means you deliver more power with less pulse width, and delivering less power with more. You need to change the PWM length through the software.