Whoa! No, it is not something you have to be concerned about.
Bayliascaris is a roundworm found in raccoons. If you had a baby raccoon, I would say it is a definite concern. Although there is a remote possibility that any mammal that comes in contact with raccoon poop could become infected with this roundworm it is highly unlikely that squirrels have this type of contact.
Raccoons are drawn to food sources. In the area would be raccoon latrines where they do their business. These areas have the potential to be highly contaminated with the roundworm eggs. There is a report of a child that contracted the roundworm by playing in dirt that was contaminated.
Let me assure you that if squirrels carried the parasite most of the people on this board would be dead.
With that said, I think it's important to remind you that handling any animal (wild or domestic) should always be done with hygiene in mind. Your baby should not be handling squirrels or dogs/cats IMO. Your baby can get roundworms from your domestic pets if common sense hygiene practices are not followed. One of my pet peeves is to see 'adults' allow a dog to lick a child's face. OMG, that dog just licked his rear end!!! People don't think a thing about it and I am retching with disgust.
I guess the bottom line is, anything is possible but it is highly unlikely. Babies immune systems are not fully developed and they shouldn't be handling squirrels anyway. You should practice precautions by washing your hands after holding a baby squirrel OR a baby kitten.