Microwave-driven logic is a promising alternative to laser control in scaling trapped-ion based quantum processors. We implement Mølmer-Sørensen two-qubit gates on hyperfine clock qubits in a cryogenic surface trap, driven by near-field microwaves. We achieve gate durations of 154 µs [with 1.0(2)% error] and 331 µs [0.5(1)% error], which approaches the performance of typical laser-driven gates. In the 331 µs gate, we demonstrate a Walsh-modulated dynamical decoupling scheme which suppresses errors due to fluctuations in the qubit frequency as well as imperfections in the decoupling drive itself.