Is it legal to drive a baja mini bike on the road in Michigan?

Yes, it is illegal to ride any mini bike or non street legal machine on a street. But their are acceptions, you can try to ride it in a large parking lot away from cars(i have done this many times and multiple places and the worst that ever happend was i was told to leave because i was riding around during Christmas shopping and their was lots of people). If not you could always ride offroad in a deserted place or ask someone with a large property if it is ok.