Fractal phenomena may be widely observed in a great number of complex systems. In this paper, we revisit the well-known Vicsek fractal, and study some of its structural properties for purpose of understanding how the underlying topology influences its dynamic behaviors. For instance, we analytically determine the exact solution to mean first-passage time for random walks on Vicsek fractal in a more light mapping-based manner than previous other methods, including typical spectral technique. More importantly, our method can be quite efficient to precisely calculate the solutions to mean first-passage time on all generaliz