John Lundstram fired an effort against a post in an even first half, but Spurs opened the scoring after 58 minutes through Son Heung-min.
Enda Stevens's heavy touch fell to the South Korean, who beat Dean Henderson from close range.
Sheff Utd thought they had equalised when David McGoldrick converted Stevens's cross, but it was overturned by the VAR after Lundstram was found to have been offside in the build-up.
The equaliser came when Baldock's cross found its way into the net on 78 minutes.
The Blades move up to fifth on 17 points, three clear of Spurs, who drop to 12th.
Spurs: 23 Nov v West Ham (A)
Sheff Utd: 24 Nov v Man Utd (H)