They just haven’t practiced it. If you’re a good cook, you absolutely have capacity to be a good baker, because they’re only semantically different things. If we called it cooking a cake, no one would draw this distinction, and some other languages/cultures don’t.
If you can prepare, mix, and properly cook ingredients then you can prepare, mix, and properly bake ingredients.



Your last paragraph is just how my mom bakes. It’s entirely possible to bake without recipes once you have the experience, like you’re saying.