Helen Estes Baker was born in Suffolk, Virginia on September 6, 1906 to James and Mary Estes. She attended the public schools and high school at the Nansemond Industrial Institute. She entered the Virginia Normal and Industrial Institute in 1923 and was graduated in 1927. Three years later she earned a Masters degree in Education from Rhode Island College. Thirty years later Mrs. Baker returned to school, earning a law degree from the University of Maryland in 1962. Helen Baker returned home to Suffolk to began her career in education, teaching at Booker T. Washington High School.

In 1931 she joined the faculty at what was then the Virginia State College for Negroes. Here she taught educational psychology and was one of several who supervised student teachers. Mrs.Baker was assigned to the Blanford Elementary School, which was located near one of petersburg's largest tobacco factories. Mrs.Baker became involoved with the effect of the Tobacco Steemers to unionize, and this led her to new career, working with unions. The Southern School for Workers employed Mrs.Baker from 1943 to 1948 as director of literary education. in addition, Mrs.Baker was involoved with the Adult Education program at Virginia state from 1942-1949.

In 1950 she worked with the American Friends Service Committee, as co-director with her husband conducting a series of work-study projects for college students, as well as The North Richmond Neighborhood House, International Student House, and an overseas work camp in Berlin, Germany. She was active in the Prince Edward County School conflict, 1960-1963. In 1963, she organized the Metropolitan Washington Housing Project.

She was married to Dr. Percy H. Baker, also a graduate of Virginia State University, who was a biology professor at Morgan State College.