I just setup a simple scheduled task, pointed to shutdown.exe, then after configuring the schedule, opened the task and changed the command to:
C:\WINDOWS\system32\shutdown.exe -r -f -c "Daily reboot"
The task is run by a user with domain admin rights, and the job runs successfully on about 15 of our servers, daily.
You can tell whether it was successful by opening up task scheduler and scrolling to the right and checking the code under Last Result. 0x0 means it was successful.
Hope this helps!
Brent