Baldwin, 23, made 21 appearances for Witton last season on loan, having previously helped Farsley to promotion to National League North.
He said: "I loved my time here last season and it played a big part in me signing.
"I've spoken to a few clubs during the off season but I felt that Witton was the best option for me and I'm looking forward to getting going now."
Photo courtesy of Karl Brooks Photography
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