Code 10 is likely a fluke and probably doesn't mean anything. I'd clear codes and then see what (if anything) comes back. I'm guessing code 11 will come back and that usually means a bad TPS (Throttle Position Sensor). If you have spark on #3, but no fire, then it's likely you have a clogged or bad injector and/or a messed-up injector connector. Pull that spark plug and check it for fuel (I'm guessing it will be dry).

For whatever reason, when there's contaminants in your fuel system, they always seem to end up in the inlet screen to #3 injector. If that's it, unfortunately you'll need to remove the upper half of your intake manifold and your fuel rail to remove and test/clean injectors. This job can take an experienced mechanic up to 6 hrs to complete, so unless you're a mechanic, I'd count on it taking up your entire weekend. If you do find excessive debris in that injector, I would highly recommend upgrading your fuel filter to something like I did here: http://www.toyotavantech.com/forum/s...3388#post13388

Due to a contaminated fuel system, I was plugging up my #3 injector every 5k miles. After the 4th time of tearing down, cleaning the injector, and putting back together, I finally got rid of the stock fuel filter and replaced with aftermarket (linked to above). Since then I've put over 25k trouble free miles on the van . I can't say for sure this is your issue, but based on the information given it sure sounds like it. Good luck. Tim