In a word: don't
The best way to drop 10 volts at 0.25A is already answered by other people, so I will not cover that.
Your question, however, aims at powering an ESP32 module specifically, and you don't disclose more details about the intended usage. However, if you are targeting an IoT scenario with WiFi communication, you need to consider that the ESP32 does NOT consume 0.25A. It's power usage varies with the distance to the AP, and the required increase of transmit power when RSSI falls down due to distance.
ESP32 supplies are typically rated for 500 or 600mA, for this reason. Personally the highest I've seen is 450mA, but your mileage may vary, and you may have other things on board, so... do the math.
If I were you, I'd use a cheap car USB supply (12-to-5V) with 600mA rating or more (which likely features a switching regulator inside), and use a LDO to drop the remaining voltage to 3.3V. You can go with 12 to 3.3V supply as well, but the 5V supply gives you the option to add a Li-Ion battery later, and the 5V supplies are more common.