I think I started out practicing a variety of common baroque progressions like circle progressions, stepwise sequences of 6/3's, etc. and improvising around those. Eventually I discovered a "trick," namely the stepwise bassline. The simplest baroque bassline may just spell out a scale, from top to bottom. Harmonizing such a bassline in thirds or sixths will almost literally create a chord progression for you, complete with a cadence. Once you're used to that you can start "breaking up the scale" with stair-stepping motion, or any limitless number of possibilities. Also, I like to think of thirds, sixths and tenths as "magnets" to which dissonances and some perfect consonances like to "snap." After that its all trial and error really. And being lazy. For some reason, baroque is what I "default" to when I feel least like thinking, ironically. Sometimes I'll improvise in two voices with one hand while I hold a mug of coffee in the other, sleepily, in the morning.