Does 5-10 minutes 2-3 times per week actually represent a significant cancer risk?
Skin cancer is as much a pre-disposition affair as it is induced by UV radiation, and people with far higher exposure levels are still not at a significant risk for skin cancer unless their genetic make-up is such that they are very prone to contracting it.
If you have extremely light skin, have freckles (especially darker ones), have red hair or if there is a history of skin cancer in your family better be careful though.
Otherwise, enjoy the sun but don't overdo it.