Baldwin was incorporated on June 23, 1802 from Flintstown Plantation. Between 1821 and 1871, it ceded land to Sebago four times, and Hiram twice, leaving it the only one of seven towns surrounding Sebago Lake without frontage to the lake, being cut off by the town of Sebago.
Villages within the township of Baldwin include West Baldwin, at the western border of the township; East Baldwin, in its southeastern corner; and North Baldwin, in the north-central portion.
Saddleback Hills cuts through the township, from West Baldwin to the northeastern part of the township.
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