The former Will & Grace star welcomed a baby boy named Baker James Kauffman, her second son with her husband Keith Kauffman, via Caesarean section. The tot weighted in at six pounds, 12 ounces (2.8 kilograms).
Baker tells People.com, "We are so blessed and thankful to welcome Baker James Kauffman into our family... We are more than just smitten. We are absolutely, madly in love."
The couple is already parents to three-year-old son Griffin.
The former Will & Grace star carried on recording the Disney show after she discovered she was expecting her second child, but admits she found the experience difficult.
She tells People.com, "All the prop people could see that I was turning green and they would rush in with peppermint tea. I have to say, peppermint tea was a miracle for me. Make it hot and ice it with honey and it really has a medicinal effect."
Baker and her husband Keith Kauffman are already parents to three-year-old son Griffin and their second child is due later this year (12).