Yes, if your baby is a sinner who can repent, then he should be baptized. We challenge the religious world to find an instance of infant baptism in the Scriptures. Yes, if you can find a case of infant baptism in the Scriptures, you should have your baby baptized immediately. If your baby can be immersed as this verse teaches and decide for himself to bury the old man of sin and arise to walk in newness of life, he should be immersed without delay. Protestantism copied infant baptism and sprinkling from the Roman Catholic Church even though Rome admits that the early church immersed.
Infant baptism has many defenders but no defense.
If you can find any child in the Scriptures was sprinkled, then your child should be sprinkled too. The Old Testament was a covenant that one was born into, after which he was reared to know God and His laws. However, the new covenant is different. The new covenant is one that an individual is not born into as a child. He is born into it spiritually when as a mature person he chooses to be in the covenant with God by his own free will.