Here is the camping, road and parking information. It states "no designated parking areas however roadside parking is available. This would mean to me that you can park anywhere along the road. Good luck!
Camping
primitive camping
General information on primitive camping includes how-to and safety tips and links to rules & regulations.
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.
Directions
There are no designated parking areas on the unit, however roadside parking is available. Bald Mountain State Forest lies approximately 2 miles east of the Village of Angelica and is accessible via Buehrings Road, which runs north off County Route 16.
The state forest is located at 42.314195°N, 77.969137°W Google Maps (leaves DEC website). All coordinates provided are in decimal degrees using NAD83/WGS84 datum.