It's fairly straight forward. All you are doing in this set up is using the 0-5V PWM signal from the arduino to drive a 10V source - basically the same idea as an audio amplifier. You could easily solder this up on a proto board. Seems intimidating now but once you do it you'll see it's pretty easy. Probably take you 30-60 mins depending on your comfort level with circuitry and a soldering iron.
VR - What's with the NPN into the PNP? I'm not sure I get what that's for. Are you just trying to achieve higher gains to reduce the load on the arduino? If so, why not use a single darlington transistor instead?
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