The Ospreys No.8 was a constant thorn in the side of Italy with several trademark bursts. But Baker’s efforts were to little avail as Wales looked set for a share of the spoils despite fighting back against an impressive Italian outfit thanks tries from Rob Evans and Luke Morgan.
But the powerhouse Baker pounced for a try with five minutes to spare to snatch the victory at Colwyn Bay.
Danny Wilson had made wholesale changes to his side following the 40-9 defeat to England.
In all there are seven changes with Kirby Myhill unavailable due to his commitments in the Scarlets side to face Northampton Saints in the LV=Cup semi-final on Sunday.
17-year-old Jack Dixon has also been drafted into the side after impressing for Newport Gwent Dragons against Munster last weekend.
Wales started brightly but it was the Italians that surged into the lead thanks to a Calabrese snipe. Vittorio Marazzi broke off the back of a close-range scrum and fed the scrum-half, who raced under the posts.
Michael Odiete slotted the simple conversion and fly-half Keanu Sue Apperley quickly stretched the lead.
But Wales hit-back on 12 minutes thanks to Evans. The Scarlets prop rampaged through the Italian defence and was on hand for a second charge over the line.
Sam Davies, the son of Scarlets supremo Nigel, added the extras to cut the deficit to three-point.
The Ospreys pivot levelled the scores on 19 minutes but the Azzurri stormed back with a fine try from live-wire wing Leonardo Sarto, who danced past several defenders to score.
Davies hit-back with his second penalty to enter the interval trailing 17-13.
The two fly-halves exchanged further shots at goal before Morgan scorched over in the corner to hand Wales the lead for the first time.
Dragons rising star Dixon made the initial in roads and flicked a delicious off-load to release Morgan.
Jordan Williams converted to hand Wales a three-point advantage going into the final quarter before Apperley responded on 67 minutes.
But the hugely impressive Baker intercepted Apperley’s pass on 75 minutes to race half the length of the pitch to score beneath the posts. And Williams dissected the posts to hand Wales a 33-23 triumph.
