I think OP doesn't know much about crypto we can't just say use this use that without proper explanation.
I'm not certain but I think I understand what OP really mean.
While OP doesn't know what he should asked; others also answer as everything the question imply.
OP said 10 characters not 10 bytes that why Mr.Demer came up with format-preserving encryption. I believe OP actually mean 10 bytes since he attempt to use AES by himself at first and QR code is capable of storing binary information.
Basically OP just try to encrypt 10 bytes data into 10 bytes data.
otus understand this point so he suggest OP to use stream cipher but that's not a good explanation because OP still doesn't know what wrong with his current approach.
To answer your (OP's) question.
You should understand that AES is something we called block cipher which operate on block of data. In AES case it took 16 bytes plaintext block as input and output 16 bytes ciphertext block.
AES can't operate on input less than 16 bytes. The input less than 16 bytes will be padded before begin AES operation. Fortunately block cipher can also be used to generate keystream to use as stream cipher. Thus you can use AES to encrypt your data and output 10 bytes data just by picking the right mode of operation. (Or more obvious choice: use stream cipher)
Your implementation may has other pitfalls that you don't aware of. For example in mode of operation I mentioned or other generic stream ciphers. If you encrypt it without MAC I can change what you encrypted without knowing your key?
For example I can change encrypted AU00000001 to AU11100001 just by flipping correct location of bit.
I suggest before continue your app development you should play around with crypto a little more or find someone else that did.
For this particular case if the values you encrypted "AU00000001" is unique I think pad it to 16 bytes and encrypt it using AES in ECB mode should be adequate security with minimal size overhead. No MAC needed since you can validate the correctness with regular expression
eg. ^[A-Za-z]{2}[0-9]{8}$ and I can't arbitrary independently flip any bit at my will.