Reference site says "There are no designated campsites; however, at-large primitive camping is allowed. Campsites must be at least 150 feet away from the nearest road, trail, or body of water. Camping for more than three nights or in groups of ten or more requires a permit from a Forest Ranger." "Roads" implies that there are roads.
There are various map links (Bald Mtn Forest Map, Google Earth, etc) near the top of the page. Check the maps. Look at Google Earth.
You might also Google "Bald Mountain State Forest blogs trip reports" and see if anyone else posted trip descriptions or images.
Be prepared for an adventure. Know how to turn around in very tight spaces. Tell us your story when you return!