Can a 17-year-old with a baby legally move out of the parental home?

Yes, with the permission of the parents.

You don't provide enough information to answer your question with any specificity, but generally most judge would likely consider having a baby to be an act equivalent to obtaining emancipation. Even if you had a judge that did not, the 17 year old could file for emancipation, and would likely turn 18 while the action was pending. At 18, they could do what they wanted anyway. Consult with an attorney to discuss the specifics of your situation and your options.