Baldwin made his NASCAR debut in 1994 at a Busch Series race at Atlanta Motor Speedway.

Driving the #95 Royal Oak Charcoal Chevrolet for Buz McCall's American Equipment Racing, Baldwin qualified 26th and finished 23rd.

In 1992 Baldwin was the Champion of Trans Am Series, being the first driver of the modern era to complete every lap of every race of that season, which earned him the Chevy Proud Motorsports Achievement Award for outstanding performance.

Baldwin also won the 1984 and 1985 Camel GTU Championships driving the Malibu Grand Prix Mazda RX 7.

Following his back-to-back Champion season he went on to drive the Pearless Levi Garrett GTO Division Camaro Baldwin drove the number 74 Riley and Scott MkIII B and C for Robinson Racing from 1999-2004.

He currently drives the #73 GTSport Racing Porsche Cayman S in the Pirelli World Challenge Series.