How can I score from the baseline?

You need to shoot if the defender is playing that far off of you. Driving is only good if you get them in the air or off balance, practice that shot. If you really don't want to, then a floater is your best shot, look at Tony Parker's for a good example.
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If you perfect the hook shot like Kareem Abdul-Jabbar did, you will be able to score from the baseline at will. It is an unstoppable shot because it puts your body between your shot and the defender where s/he will have no hope of blocking it. Work on it!
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Driving the baseline is pretty difficult if the defenders are sagging off you like that. You've got to make the shot or make a good up fake then blow by as quick as you can. Or you can try backing in, using your body as a shield, then throwing up a baby hook. If the defender is right on your rear, bump him off if you're big or try a spin if you're quick.
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Fade away is another way of ensuring a clean shot.
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Ideally you'd perfect the 15 to 18 foot jumper along the baseline in order to make defenders come out and play you a little closer. The only way to do that would be shooting a high amount of those shots a day, really. I find that taking a single dribble helps me get into more of a rythm for my jump shots – you could try that if you've got the time before the D gets there. Otherwise just grab a buddy from the team and hit the gym for an hour a day practicing that shot.

If you really want to drive the ball, and if the D does come out to guard you, try setting them up with a dribble to the right and then come back with a crossover to beat them baseline – that's my favorite way to attack. Usually in a 5 vs. 5 game it's not easy to drive to the middle unless you've got really good hands.

You could work on a back-to-the-basket game and try to post them up if you've got some size and then try a ball fake and an up-and-under move for a layup – I find that works against some of my shorter friends cause I'm not tall. They usually end up biting on the ball fake and then a quick pivot and and layup are pretty easy.

Anyways, just practice with some friends sometime and you'll find what really works for you. I've got friends that tend to go to the middle more than baseline or vice-versa, some try to back you down, and some just shoot until the shot falls. Experiment and find what feels comfortable for you. Good luck.
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ok
it really depends what pos. you are.
im guessing your a forward or sg.
Work on handles n quikness
by running, and squats, wall sits, etc.
And i used to have the same problem like u
when i was 8th gd
i was hella scared of driving
but now
i drive in all the time against 6 footeers
and im 5'5
so once u do it even if u mess up the coach will like it.
and if the defender is real good pass it to som1 else and call for the ball back to try to cross him or get a nice jumper
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played bball league 5 years

Practice that shot. There have been players throughout NBA history that have earned their paychecks shooting from that baseline. The midrange baseline jumpshot is always going to be an underated shot and defenders are not used to covering it as much. If you can get an angle with the backboard, you can bank your shots in, which I find to be more consistent myself. Bottom line is PRACTICE.
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