Kuroda (2-1) didn't issue a walk in his 113-pitch gem, striking out five Orioles batters as New York's infield turned a pair of double plays behind him.
The whitewash was the fifth in the Japanese hurler's major league career.
Gardner's fifth-inning blast off the right-field foul pole with Francisco Cervelli aboard extended the Yankees' one-run lead and secured their victory in the rubber match of a three-game series.
Baltimore starter Wei-Yin Chen (0-2) absorbed the loss, surrendering three runs on six hits in a six-inning outing.
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