First, note that RAID10 is horrible terminology because ZFS has no such thing.
When you create a mirror vdev (two hard drives mirrored against each other), you can then add another mirror vdev to that first one, and ZFS will intelligently load balance between them. People often mistake the load balancing for "RAID 0" but it isn't. ZFS will do something similar to striping between the vdevs if all things are equal, but often they're not.
So you can just add two disks at a time, creating new mirror vdevs as you go, to an existing pool, and you end up with "RAID10" - a bunch of mirror vdevs that are all part of a single pool, and ZFS load balancing between them.