The hosts took the lead in the eighth minute in a friendly match at the Stadion der Freundschaft after Daniel Adlung broke down the left and curled in a shot that slipped through goalkeeper Stephen Henderson's grasp and into the net.
The second division German added to their lead in the 42nd minute when Adlung scored his second of the match with a 20-yard shot that nestled into the bottom corner.
But West Ham got back in the game in the 77th minute as Kazim-Richards volleyed home from the edge of the area and they pulled level just two minutes later with a looping Baldock header.
