He discovered his musical and performing talents at a young age by singing and dancing in the jam sessions his family would have at his aunt's house after having Sunday dinner at his grandmother's.
While a student at CAPA, Baldi was a founding member of Unique Attraction, a group that later evolved into Boyz II Men.
When bassist Barry Carl decided to retire from the group to pursue other opportunities in 2002, Rockapella was left without a bass singer and needed to find a new one.
Baldi's vocal range is vast, transitioning from low bass rumbling to high pitched belting with ease.
[5][non-primary source needed] In 2022, after bass Bryant Vance left Rockapella, Baldi returned to the group.