The Orioles' Nick Markakis had tied the game 9-9 with a solo homer in the top of the inning.
Baldelli forced in a run in the seventh when he was hit by a pitch with the bases loaded.
The winning pitcher was Dan Wheeler (3-5).
Markakis led Baltimore with four hits and the one RBI. One of Jay Payton's two hits was a two-run first-inning homer.
Aubrey Huff had two hits, one a three-run third-inning homer. Ramon Hernandez had two hits and two RBI and Brian Roberts added one RBI in the Orioles' second straight loss.
The losing pitcher was Rocky Cherry (0-2).