This is a great hike with kids...they love the scrambling, it isn't TOO steep or long (only about a mile up and a mile down) and the views are supurb pretty much the entire way up.
Highly recommended. If you want something longer (8 hr or so)...you can hit this AND Ragged Mt on the same day. Not quite a loop...but Ragged Mt. trail cuts off to the right from the Bald Mt. Trailhead.
Gotta' be one of the nicer peaks in the Camden area. A bit hazy but the views were still pretty spectacular. Views from the summit are quintessential Maine... Penobscot Bay, distant hills, and lush forests broken by the occasional farm, village, or lake.