I just bought a new home with 2x10 vaulted ceilings with R30 insulation and no baffles.
I have a vented soffit and a ridge vent.
Will this be a problem?

Only time will tell the exact extent of possible damages to the shingles/roofing.

Proper ventilation is required for shingles,but a 2X10 with an R-30(6 inch) should be just fine.

The only thing that may happen is that the life of your shingles and sheeting may be shortened due to a lack of proper air flow. But if the house is new you shouldn't have to worrie about this for quite some time