It took Roberto Di Matteo’s side little more than a minute to strike the game’s first blow.
A swift break saw Mark Wright square a pass to the unmarked Wilbraham on the edge of the area and the former Hull striker despatched a sweet shot past the despairing dive of goalkeeper Dean Gerken in the second minute.
Dons winger Mark Yeates’ free-kick strike the post and Akanni-Sunday Wasiu should have made more of David Perkins’ pass after being left unmarked in the six-yard box.
However, substitute Baldock shrugged off the challenge of Paul Reid to run on to Dean Lewington’s long pass and slot home the Dons’ second with three minutes to go.
And he tapped home a third in stoppage-time from Wilbraham’s low cross to seal victory for the Dons.