You can use the Windows 10 SDK to make UWP apps, which work across PC/Xbox, but as an "app", not a native game. That's probably closer to XNA / XBLIG on the Xbox 360.
The Xbox uses Direct3D11.x and Direct3D12.x, so you'd have to carry out some small amount of porting still.
If you mean to take the 'I don't have an AAA publisher' route, you have only two paths to get software running on other people's XBox Ones -- you have the open "UWP Apps on Xbox One" program, and you have the ID@Xbox program.
Ultimately, the direction things are going in is that Xbox will become, more or less, just another Windows form-factor. Still, though, the two programs I mentioned are different, and have different intentions behind them.
Currently, the UWP on XBox program that's completely open to anyone is for Apps, not games -- this is a policy decision, not a technical one. As a developer you can write a game using the tools made available, and you can deploy and test on your own Xbox. You cannot, however, put that same application on the Store where other people can buy it. This could change, but its not how it is today. Furthermore, the apps you create using these tools don't have full access to the hardware (All 'apps' on Xbox work this way, e.g. Netflix, etc) -- You're limited to 1GB of RAM (and you have to be able to enter suspensions using only 128MB quickly), your app shares 2-4 CPU cores with the OS and other apps, you have the vanilla DirectX 11 API, but only at feature-level 10_0 (e.g. no async), and you get only 45% of the GPU when your app is in the foreground.
For games, the ID@Xbox program is what you want, but its not open to everyone. If approved, you get the same level of access to the hardware and to XBox Live that AAA games get.
As far as setting yourself up for an easy transition, you've gotten good advice. Basically, create a Windows 10 UWP game, and stick to the new APIs as much as you're able to (not the legacy/Win32 ones), assume until further notice that you'll have Vanilla D3D11 (not D3D12 or 11.x), assume that libraries that work under Windows 10 UWP will work under XBox UWP (or that support will be added quickly once things open up).
Design-wise, the Xbox is not just a PC with a controller -- Do design for first-class controller input (Look at 7 Days to Die to see what happens when you don't), but that doesn't just mean gameplay input. UI best-practices are completely different for gamepad vs. Keyboard/mouse, and you design just differently for a 40" screen at 6-10 feet than you do a 24" screen at 18-30 inches.
Here are some links:
Games and DirectX (UWP), especially the Windows 10 game development guide and Game technologies for UWP apps.
ID@Xbox program page or check out what indies are making.
UWP on XBox One