Heat a small nonstick skillet over medium-high heat. Sprinkle 3 tablespoons cheese and 1 teaspoon walnuts over the bottom of the skillet. Cook for 1-2 minutes or until edges are golden brown and cheese is bubbly. Remove from the heat and let stand for 30 seconds.
Using a spatula, carefully remove cheese mixture and immediately drape over an inverted glass with a 2-in.-diameter bottom; cool completely. Repeat with remaining cheese and walnuts, forming five more baskets.
For salad, in a large bowl, combine the arugula, grapes and walnuts. Whisk the oil, vinegar, salt and pepper. Pour over arugula mixture; toss to coat. Place 1/2 cup salad in each basket.