Just a note that if your 10 hour layover is on your way to Europe, you're going to be jet lagged. For me that means moving much slower than normal, and that is something to consider if you want to remember any of your limited visit. If you have kids, that's also something to factor in.
As noted, it's easy to get to city from the airport on the train. Store your carry on items in a locker at the airport and research its location and process ahead of time so you are prepared. Make sure you have your boarding passes for the return flight before you leave the airport. Take the train to central station - you can catch one of several canal cruises right outside the station, but if it's high season you'd want to purchase tickets ahead. Though from personal experience I can tell you the aforementioned jet lag may make it a nap-inducing experience. You'd need to purchase Anne Frank house tickets well ahead of time (search this site for tips on how to do so) and make sure the time slot selected allows for transit time from airport, as well as enough time to go back. It's about a 20 minute walk from the train station, 10 minute by tram if you're feeling up to navigating multiple modes of transportation.
If you do this, keep an eye on the Schiphol website that shows the expected crowd levels at the airport which lets you check a week or so in advance. This will help you know how much time you'll likely need to get out of the airport and also plan how much time to allow to return to the airport and get back through security.