Mt. Baldy is a flattish peak that is cut in half by the CA-NV stateline. It is part of the same ridge containing Rose Knob and Rose Knob Peak (pages soon to come). Although the summit is covered in scrubby trees, the south ridge just below the summit has some of the best views of Lake Tahoe that one can have. It is accessible a number of ways but the only maintained trail to cross its slopes is the Tahoe Rim Trail that cuts across the peak just to the south of the actual summit. Rifle Peak is also very close to the summit of Mt. Baldy, offering a vast view to the North.
There are several options for starts for this hike, all of them leaving from the North Tahoe area. The Tahoe Rim Trail approach leaves from the western side of CA 267, a few miles to the North of Kings Beach, CA, at a designated Tahoe Rim Trail parking area and trailhead. The trailhead is about a mile shy of the summit of 267 if you come from the Kings Beach side, you can't miss it. The other approach leaves from the town of Kings Beach and travels up a few dirt roads until turning into a cross country route. From the intersection of CA 267 and CA 28 (Lake Tahoe BLVD) drive West heading for NV. After about 1.5 miles, take a left onto Beaver St. Follow Beaver all the way to the jct. with Cutthroat St. For the complete directions to this trailhead go to the Kings Beach Route page that I will attach shortly.
Mt. Baldy is in the Lake Tahoe Basin Management Unit and is also the boundary for the Mt. Rose Wilderness. Fires are not allowed in either of these areas. Outside of Mt Rose Wilderness there are no camping regulations except to stay away from the Tahoe Rim Trail. Inside the wilderness area there are some stricter rules. Look up the Mt. Rose Wilderness regulations for more info.
There are many excellent campsites in the area of Mt. Baldy both en route and once on the summit ridge. Whichever route is taken there are ample sites, not many defined ones, but plenty of good spots for them. One such spot is on the Kings Beach Route, about 2/3 of the way up after you walk under the power lines and down into the col. This spot is very protected from the wind and close to some great views from the power lines area.