I don't see any admin interface for this.
The way I'd do it is
1. First, set up a child theme for your modified version of TwentyTen.
2. Copy the twentyten_posted_on() function from the twentyten/functions.php to a new functions.php in your child theme.
3. In that function, the date/time posted information is generated here
sprintf( '<a href="%1$s" title="%2$s" rel="bookmark"><span class="entry-date">%3$s</span></a>',
get_permalink(),
esc_attr( get_the_time() ),
get_the_date()
),
where the time is output as a title attribute on the link (i.e. if you hover over the date, you'll see the time).
If you want the time displayed directly, change that first line to, say,
sprintf( '<a href="%1$s" rel="bookmark"><span class="entry-date">%3$s at %2$s</span></a>',
Hope that helps and you see how to modify things to get exactly what you want. [See also the examples in the PHP docs.]