diff --git a/cli/types/cypress.d.ts b/cli/types/cypress.d.ts
index 2927c73f6a6f..a0813ee54b80 100644
--- a/cli/types/cypress.d.ts
+++ b/cli/types/cypress.d.ts
@@ -2963,7 +2963,7 @@ declare namespace Cypress {
     xhrUrl: string
   }
 
-  interface TestConfigOverrides extends Partial<Pick<ConfigOptions, 'animationDistanceThreshold' | 'baseUrl' | 'blockHosts' | 'defaultCommandTimeout' | 'env' | 'execTimeout' | 'includeShadowDom' | 'numTestsKeptInMemory' | 'pageLoadTimeout' | 'redirectionLimit' | 'requestTimeout' | 'responseTimeout' | 'retries' | 'screenshotOnRunFailure' | 'slowTestThreshold' | 'scrollBehavior' | 'taskTimeout' | 'viewportHeight' | 'viewportWidth' | 'waitForAnimations'>> {
+  interface TestConfigOverrides extends Partial<Pick<ConfigOptions, 'animationDistanceThreshold' | 'blockHosts' | 'defaultCommandTimeout' | 'env' | 'execTimeout' | 'includeShadowDom' | 'numTestsKeptInMemory' | 'pageLoadTimeout' | 'redirectionLimit' | 'requestTimeout' | 'responseTimeout' | 'retries' | 'screenshotOnRunFailure' | 'slowTestThreshold' | 'scrollBehavior' | 'taskTimeout' | 'viewportHeight' | 'viewportWidth' | 'waitForAnimations'>> {
     browser?: IsBrowserMatcher | IsBrowserMatcher[]
     keystrokeDelay?: number
   }
@@ -2974,16 +2974,21 @@ declare namespace Cypress {
   type CoreConfigOptions = Partial<Omit<ResolvedConfigOptions, TestingType>>
 
   type DevServerFn<ComponentDevServerOpts = any> = (cypressDevServerConfig: DevServerConfig, devServerConfig: ComponentDevServerOpts) => ResolvedDevServerConfig | Promise<ResolvedDevServerConfig>
-  interface ComponentConfigOptions<ComponentDevServerOpts = any> extends CoreConfigOptions {
+  interface ComponentConfigOptions<ComponentDevServerOpts = any> extends Omit<CoreConfigOptions, 'baseUrl'> {
     devServer: DevServerFn<ComponentDevServerOpts>
     devServerConfig?: ComponentDevServerOpts
   }
 
+  /**
+   * Config options that can be assigned on cypress.config.{ts|js} file
+   */
+  type UserConfigOptions<ComponentDevServerOpts = any> = Omit<ResolvedConfigOptions<ComponentDevServerOpts>, 'baseUrl' | 'excludeSpecPattern' | 'supportFile' | 'specPattern'>
+
   /**
    * Takes ComponentDevServerOpts to track the signature of the devServerConfig for the provided `devServer`,
    * so we have proper completion for `devServerConfig`
    */
-  type ConfigOptions<ComponentDevServerOpts = any> = Partial<ResolvedConfigOptions<ComponentDevServerOpts>>
+  type ConfigOptions<ComponentDevServerOpts = any> = Partial<UserConfigOptions<ComponentDevServerOpts>>
 
   interface PluginConfigOptions extends ResolvedConfigOptions, RuntimeConfigOptions {
     /**
diff --git a/cli/types/tests/cypress-npm-api-test.ts b/cli/types/tests/cypress-npm-api-test.ts
index 776a54aeb56f..d7979e17a39a 100644
--- a/cli/types/tests/cypress-npm-api-test.ts
+++ b/cli/types/tests/cypress-npm-api-test.ts
@@ -32,7 +32,9 @@ cypress.run({
 
 // provide only some config options
 const runConfig: Cypress.ConfigOptions = {
-  baseUrl: 'http://localhost:8080',
+  e2e: {
+    baseUrl: 'http://localhost:8080',
+  },
   env: {
     login: false
   },
diff --git a/cli/types/tests/cypress-tests.ts b/cli/types/tests/cypress-tests.ts
index ca80e00d71a4..52f4bef5ca7d 100644
--- a/cli/types/tests/cypress-tests.ts
+++ b/cli/types/tests/cypress-tests.ts
@@ -33,9 +33,10 @@ namespace CypressConfigTests {
   Cypress.config().baseUrl // $ExpectType string | null
 
   // setters
-  Cypress.config('baseUrl', '.') // $ExpectType void
-  Cypress.config('baseUrl', null) // $ExpectType void
-  Cypress.config({ baseUrl: '.', }) // $ExpectType void
+  Cypress.config({ e2e: { baseUrl: '.' }}) // $ExpectType void
+  Cypress.config({ e2e: { baseUrl: null }}) // $ExpectType void
+  Cypress.config({ e2e: { baseUrl: '.', }}) // $ExpectType void
+  Cypress.config({ component: { baseUrl: '.', devServer: () => ({} as any) } }) // $ExpectError
 
   Cypress.config('taskTimeout') // $ExpectType number
   Cypress.config('includeShadowDom') // $ExpectType boolean
@@ -686,7 +687,6 @@ namespace CypressTestConfigOverridesTests {
   // set config on a per-test basis
   it('test', {
     animationDistanceThreshold: 10,
-    baseUrl: 'www.foobar.com',
     defaultCommandTimeout: 6000,
     env: {},
     execTimeout: 6000,
@@ -747,7 +747,6 @@ namespace CypressTestConfigOverridesTests {
   // set config on a per-suite basis
   describe('suite', {
     browser: {family: 'firefox'},
-    baseUrl: 'www.example.com',
     keystrokeDelay: 0
   }, () => {})
 
@@ -755,7 +754,6 @@ namespace CypressTestConfigOverridesTests {
 
   describe('suite', {
     browser: {family: 'firefox'},
-    baseUrl: 'www.example.com',
     keystrokeDelay: false // $ExpectError
     foo: 'foo' // $ExpectError
   }, () => {})
diff --git a/cli/types/tests/plugins-config.ts b/cli/types/tests/plugins-config.ts
index 0a22f7e468b4..1a86a0a3d110 100644
--- a/cli/types/tests/plugins-config.ts
+++ b/cli/types/tests/plugins-config.ts
@@ -6,7 +6,6 @@ const pluginConfig: Cypress.PluginConfig = (on, config) => {}
 // allows synchronous returns
 const pluginConfig2: Cypress.PluginConfig = (on, config) => {
   config // $ExpectType PluginConfigOptions
-  config.baseUrl // $ExpectType string | null
   config.configFile // $ExpectType string | false
   config.fixturesFolder // $ExpectType string | false
   config.screenshotsFolder // $ExpectType string | false
@@ -66,7 +65,9 @@ const pluginConfig2: Cypress.PluginConfig = (on, config) => {
   })
 
   return {
-    baseUrl: 'http://localhost:3000'
+    e2e: {
+      baseUrl: 'http://localhost:3000'
+    }
   }
 }
 
@@ -105,7 +106,9 @@ const pluginConfig4: Cypress.PluginConfig = (on, config) => {
   })
 
   return Promise.resolve({
-    baseUrl: 'http://localhost:3000'
+    e2e: {
+      baseUrl: 'http://localhost:3000'
+    }
   })
 }
 
diff --git a/npm/cypress-schematic/src/builders/cypress/index.ts b/npm/cypress-schematic/src/builders/cypress/index.ts
index 9e661c0472f3..8cb7457de679 100644
--- a/npm/cypress-schematic/src/builders/cypress/index.ts
+++ b/npm/cypress-schematic/src/builders/cypress/index.ts
@@ -79,7 +79,7 @@ function initCypress (userOptions: CypressBuilderOptions): Observable<BuilderOut
   }
 
   if (userOptions.baseUrl) {
-    options.config = { ...options.config, baseUrl: userOptions.baseUrl }
+    options.config = { ...options.config, e2e: { ...options.config?.e2e, baseUrl: userOptions.baseUrl } }
   }
 
   const { watch, headless } = userOptions