Did Hall and Oates ever sing Baby Come Back To Me?

Answer 1

There's an album by Kenny G where he had various artists sing guest vocals on it and Daryl Hall sang "Baby, Come To Me". So while Hall & Oates didn't do this song as a duo, Daryl did sing it as a solo effort on this album.

Now just in case you meant the song title as "Baby Come Back", that was done by Player.

Answer 2

Hall and Oates' 'Baby Come Back' was written by songwriters Peter Beckett and John Charles Crowley II;