Charles was born on the 30th of June 1839, in Smyrna, Delaware, and was married to Levenia Cleaves. He enlisted in the Navy on the 13th of January 1864, in Philadelphia, Pennsylvania, and it was his actions four months later as a Coal Heaver that would earn him the Medal of Honor. The citation reads:

Served on board the U.S.S. Wyalusing and participating in a plan to destroy the rebel ram Albemarle in Roanoke River, 25 May 1864. Volunteering for the hazardous mission, C.H. Baldwin participated in the transfer of two torpedoes across an island swamp. Weighted by a line which was used to transfer the torpedoes, he swam the river and, when challenged by a sentry, was forced to abandon the plan after erasing its detection and before it could be carried to completion. Escaping the fire of the muskets, C.H. Baldwin spent two days and nights of hazardous travel without food, and finally arrived, fatigued, at the mother ship.

Charles was one of five members of the Wyalusing that received the Medal of Honor and not much else is known about his life. Charles H Baldwin died on the 22nd of January 1911, at the age of 71 and he is buried with his wife in the Christ Church Cemetery in Accokeek, Maryland.