Described as a classic dysfunctional family comedy series, the story follows a stuck-in-his-ways, opinionated, fading TV star who moves in with his progressive daughter, her girlfriend and the child they are raising together.
Barris and Baldwin will serve as executive producers along with Julie Bean, who will serve as showrunner alongside Barris.
ABC Studios, where all three artists have overall deals, will produce the series.
This is the second project given a greenlight for the 2018-19 season, joining light drama Take Two starring Rachel Bilson and Eddie Cibrian, from the Castle creators.
ABC is also developing The Heiresses, from Pretty Little Liars showrunner I. Marlene King and starring Shay Mitchell; musical drama Broken Record, with Meghan Trainor set to executive produce and contribute new music; Glass Houses, based on the life of Real Housewives star Kyle Richards; Spirited, a psychic drama starring Laverne Cox; Eligible, a modern-day retelling of Pride and Prejudice, also from King.
Comedy projects include The Real Fairy Godmother starring Kristin Chenoweth; Black Don’t Crack, from Viola Davis and Larry Wilmore; Valley Girls, a Silicon Valley comedy from Kelly Ripa and Mark Consuelos; an illegal immigration comedy from David Feeney; Fertile, a workplace comedy from The Goldbergs EP Doug Robinson, as well as untitled sitcom from The Goldbergs trio of Dan Levy, Robinson and Marc Firek, based on Levy’s own life and standup routine.