When you do something baldly, you do it in a blunt or straightforward way. When you get right to the point in a conversation, you speak baldly.
People who state their feelings baldly sometimes get a shocked response from others, since they tend to simply say exactly what they mean rather than adding detail or explanations. The adverb baldly comes from the sense of the adjective bald that means "plain or blunt," a meaning that comes from the "plainness" of a bald — or hairless — head.