Legislative Branch: Baldwin was elected to serve in the Georgia House of Representatives from 1785 to 1787. He then went on to serve as a delegate to the Continental Congress from 1785 to 1788, where he helped draft the Articles of Confederation. Baldwin also served as a delegate to the Constitutional Convention in 1787, where he was a signer of the United States Constitution.
Judicial Branch: In 1789, George Washington appointed Baldwin to serve as a judge on the U.S. District Court for the District of Georgia. He served in that role until his death in 1807.