No Canadian city is genuinely "close" to Baltimore, Maryland—the distance is substantial. The closest major Canadian city is Windsor, Ontario, directly across the Detroit River from Detroit, Michigan.
Baltimore's mid-Atlantic location places it far from the Canadian border. The nearest border crossing is actually in northern Pennsylvania (I-79 to Erie, then NY/ON), but Windsor remains the closest major Canadian urban center due to the Detroit-Windsor corridor's direct highway access.
For Baltimore residents seeking Canadian travel, flying to Toronto (YYZ) or Detroit (DTW) then crossing is usually more practical than driving to Windsor.