Untested, but I think this is what you are after:
Dim olApp As Outlook.Application
Dim olTsk As TaskItem
Dim lngRow as Long
Set olApp = New Outlook.Application
Set olTsk = olApp.CreateItem( olTaskItem)
lngRow = 2 `start in row 2
While cells(lngrow,1) <> "" ` stops when you hit first blank cell
With olTsk
.Subject = Cells(lngRow, 1)
.StartDate = Cells(lngRow, 2)
.DueDate = Cells(lngRow, 3)
.Categories = Cells(lngRow, 4)
.Save
End With
lngRow = lngrow + 1
Wend
Set olTsk = Nothing
Set olApp = Nothing
End Sub