Tyshawn Taylor had 28 points and six assists 74, in Big 12 action.
Thomas Robinson had 27 points and 14 rebounds, Elijah Johnson and Travis Releford each added 11 points while Jeff Withey had 10 points and 10 boards for the Jayhawks (15-3, 5-0 Big 12), who have won eight straight.
Kansas has taken 17 of the 19 games all-time against Baylor.
Perry Jones III totaled 18 points and Quincy Miller added 17 for the Bears (17-1, 4-1), who set a school record for best start to the season.
Syracuse and Murray State remain the only unbeaten schools in Division I basketball.