As others have said, the resorts from which you can walk to DHS are the five Epcot area resorts.
Rough distances are:
Boardwalk to DHS: 0.9 miles
Yacht Club to DHS: 1.3 miles
Beach Club to DHS: 1.4 miles
Swan to DHS: 0.9 miles
Dolphin to DHS: 1.0 miles
You can also walk to Epcot from these five resorts.
As a PP said, there is also a boat that runs between these resorts:
Epcot -> BW/BWV -> YC/BC -> S/D -> DHS -> S/D -> YC/BC -> BW/BWV -> Epcot