There are many men in the Bible who walked with God. Abraham, Moses, David, and the prophets would have walked with God as well as our Savior, Jesus Christ. The disciples and the Apostle Paul walked with God. I am sure that in Heaven we will meet a multitude who "followed the Lamb whithersoever He goeth" (Revelation 143:4).
However, I can only find two instances where "walking with God" is actually stated as a major part of their testimony, Enoch and Noah. These two men stood in stark contrast to their contemporaries around them who walked in their own ways.
Many today want God to walk with them, but they make their own decisions based on their own logic, reasoning and wisdom, expecting that God will come along with them. However, to walk with God is to make Him Lord, Leader, and Guide of our everyday life.
These are the true sons of God who are sensitive to His voice in all matters so that His will shall be done in their lives. Jesus said in John 10:27, "My sheep hear my voice, and I know them, and they follow me."
Be encouraged.
Colin Campbell