He did two years' national service with the army in Aldershot, Hampshire, before training at Bristol Old Vic theater school.
He became interested in acting after seeing a stage production of "Peter Pan", starring Ann Todd and Alastair Sim. He was given a toy theater, and he began collecting model theaters. His acting career began with an amateur dramatic society in Chichester, Sussex.
Met his wife , Sara Long when they were in a run of 'Romeo and Juliet' at the Old Vic.
When he was not acting, Baldwin worked at Pollock's Toy Museum and managed its traditional toy shop in London's Covent Garden.
In 1988, he staged an exhibition of toy theaters at the National Theatre. In 1992, he published a book, "Toy Theatres of the World". At one time, he was president of the British Puppet and Model Theatre Guild.
Children Julia born 1968 and Mathew, born 1971, who at 13 was a tournament standard tennis player.
A memorial service was held for him at St. Paul's Church, Covent Garden on 14th April 2016.