ANSWER: The first place in the Bible where it names a person who walked with our Creator is in Genesis. Verses 22 and 24 state that the patriarch Enoch began his walk with God starting at age sixty-five and did so for three hundred years (Genesis 5:22, 24).
The quick answer concerning whether he died or not is in the book of Hebrews. In Hebrews 11, after listing Enoch along with Abel, Noah, Abraham and others as examples of great faith in God, the Bible states they ALL died looking forward to the promises made to them being fulfilled (Hebrews 11:13). Enoch, like Abraham, experienced death. They are awaiting the resurrection of ALL the saints at the return of Jesus.
There is quite a bit of misinformation and misunderstanding in the world regarding whether HEAVEN exists or not, how does God decide who goes to heaven, is there anyone in heaven RIGHT NOW and so forth. To further study about heaven, please read What happens AFTER we die?
To answer your question about what does it mean to WALK with our Creator, let us take a look again at Hebrews 11. Verse 5 says that before Enoch was taken (taken away from those who wanted to harm him because he was righteous, NOT taken to heaven!) he pleased the Eternal. Then it states in verse 6 that whoever wishes to please him must KNOW he exists and that he rewards those who do his will. Noah, who also walked with God, moved out of faith to build an ark to save the human race (verse 7).
Enoch and Noah BELIEVED (had faith in) God and what he said. Anyone who believes and obeys Him walks with him. Obedience is evident when one lives by His commandments. If we do not obey, we do not have faith. The book of 1John makes it abundantly plain about what it takes to know, love and walk with our Creator.
3. And by this standard we know that we know Him: if we keep His COMMANDMENTS. 6. Anyone who claims to dwell in Him is obligating himself also to walk even as He Himself walked. (1John 2:3, 6, see also 5:2 - 3)
Thank you for asking about what it means to walk with our loving Father.