Gilberto Baroli was born in São Paulo on March 14, 1942. He began his artistic career in the theater in 1959 and later became a radio broadcaster in 1962. His entrance into the world of dubbing occurred in 1965. A pivotal moment came in 1967 when fellow actors Older Cazarré and Helena Samara, whom he met during a theater production, invited him to learn dubbing techniques at the São Paulo studio AIC, which marked the beginning of his long career in the field.

Baroli is recognized as a multifaceted professional, having worked extensively as a voice actor, dubbing director, translator, and adapter. In the 1970s, he directed the dubbing of the anime Princess Knight, a significant challenge as many episodes arrived in Brazil without scripts for translation, requiring him to create the characters' lines from scratch based on the images. He is particularly noted for his long-standing role as the dubbing director for numerous anime series in the 1990s at the Gota Mágica studio, including the first dubbing of the hugely popular Saint Seiya, also known as Os Cavaleiros do Zodíaco, in 1994. His openness to allowing press coverage of the dubbing process at that time helped bring greater public recognition to voice acting in Brazil.

His career as a voice actor is extensive and includes many iconic roles in anime, tokusatsu, and animated series. He is perhaps best known for portraying the complex villain Saga de Gêmeos and his brother Kanon de Gêmeos in various Saint Seiya productions, including the original TV series, Saint Seiya: The Hades Chapter - Inferno, and the ONA Knights of the Zodiac: Saint Seiya. Other prominent voice roles include the narrator in BASTARD!! -Heavy Metal, Dark Fantasy-, the powerful villain All For One in My Hero Academia, Alex Louis Armstrong in Fullmetal Alchemist and Fullmetal Alchemist: Brotherhood, Senator Ron Davis in Resident Evil: Degeneration, Sanzo Hoshi in Dinosaur King Season 2, Dr. Sewashi in Mazinger Z, Satã in the first dubbing of Princess Knight, and roles in numerous other series such as Galaxy Angel A, Heat Guy J, Miyori in the Sacred Forest, The Little Prince and the Eight-Headed Dragon, and The Super Dimension Fortress Macross: Do You Remember Love?. He was also the voice of the character Seu Barriga in the Chespirito shows for a period in the mid-2000s.

Beyond his performance work, Baroli has contributed significantly as a dubbing director for a vast array of titles. His directing credits include the 1984 film Ghostbusters, tokusatsu series like Jaspion and Samurai Warriors, and numerous anime such as Captain Tsubasa J, Dragon Ball, Magic Knight Rayearth, Sailor Moon, The Rose of Versailles, and various Saint Seiya movies and OVAs.

Gilberto Baroli comes from a family of voice actors. He was married to actress and voice actor Zodja Pereira, and is the father of voice actors Hermes Baroli (from his marriage to Zodja) and Luciana Baroli (from his marriage to Rosa Maria, also a voice actor). His son, Hermes, is famously the voice of the protagonist Seiya de Pégaso in Saint Seiya.

In 2024, Baroli publicly supported the Dublagem Viva campaign, an initiative by Brazilian voice actors to regulate the use of artificial intelligence in the industry, highlighting his ongoing engagement with his profession. In February 2026, it was reported that he had suffered a leg fracture and was in recovery.