For the given number, 10000 API calls per day, it will be enough to have one API Manager server instance in following hardware. You can have another CPU core, and 2 GB RAM for same machine if WSO2 BAM server runs on same machine.
Physical : 3GHz Dual-core Xeon/Opteron (or latest), 4 GB RAM (minimum : 2 GB for JVM and 2GB for the OS, 10GB free disk space (minimum) disk based on the expected storage requirements (calculate by considering the file uploads and the backup policies) .
Virtual Machine : 2 compute units minimum (each unit having 1.0-1.2 GHz Opteron/Xeon processor) 4 GB RAM 10GB free disk space. One cpu unit for OS and one for JVM. (e.g if 3 Carbon instances running require VM of 4 compute units 8 GB RAM 30 GB free space)
NOTE: You may have more than one instance as a cluster for handling high availability concerns etc.
You may also find following articles useful, [1] and [2] are general guides on capacity planing. [3] is a resource used in a meetup and 30/31 slides explains about capacity planing.
Sql server space will depend on your requirements like your data size expected.
[1] http://wso2.com/library/wso2con2013/product-performance-and-topology-sizing
[2] http://wso2.com/library/webinars/2012/11/rightsize-deployment-instances-meet-enterprise-demand/
[3] https://www.dropbox.com/s/66a61d4o5ataxp8/java-colombo-highly-scalable-apps.pptx