He was best known for working on the original run of Doctor Who, and for being a co-writer of the Wallace & Gromit films The Wrong Trousers, A Close Shave, Wallace & Gromit: The Curse of the Were-Rabbit and A Matter of Loaf and Death (in which the character Baker Bob is named after him).
Baker and Dave Martin began writing for Harlech Television (HTV), the local ITV franchise.
[4] Several of Baker's stories had elements of hard science not often found in Doctor Who, despite having been criticised for scientific inaccuracy.
Baker's other contributions to British television include Vision On animation with Laurie Booth, scripts for episodes of Shoestring and Bergerac.
Baker revealed on the DVD commentary for Nightmare of Eden that he contacted Russell T Davies about the possibility of writing for the 2005 revival of Doctor Who but was told in no uncertain terms that writers from the original series were not wanted, though K9 did appear in Doctor Who and The Sarah Jane Adventures under Russell T Davies.