- 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.
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