There is no prohibition in the National Electrical Code from using stranded wire of sufficient ampacity as long as it's copper. The code does require solid wire if it's aluminum. You are also prohibited from using stranded wire of any type in screwless terminals. You find these kind of terminals on the back of some switches and outlets where you can push the wire in instead of screwing it in.
Most people use solid wire because it's less expensive than stranded. In fact, stranded wire is sometimes used in conduit systems because it's easier to pull.
If you already have this wire and it's 10AWG, by all means use it for a 30A circuit.