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
Keep up-to-date with our exclusive email newsletters.
Digital advertising by Minute Media
© Pitch Hero Ltd 2008-2020
Pitch Hero Ltd Registered in ENGLAND | WF3 1DR | Company Number - 636 1033