The route from Euston Square to Liverpool Street uses the Circle, Hammersmith & City, or Metropolitan lines—not the Bakerloo line.
Time: ~10 minutes. Trains run every few minutes.
The Bakerloo line runs north-south via Oxford Circus, Piccadilly, and the West End. It does not serve Euston Square or Liverpool Street. The previous answer listing Bakerloo stops was incorrect for this journey.