Shop this selection of baby underwear and stock up on essentials for your little one. Mini boxers and briefs will keep them comfy, while vests and leggings are great extra layers when they need to stay warm. Gap baby girl underwear comes with a variety of cute characters they'll know and love. Looking for classic designs? Wheat and Petit Bateau have simple styles that transcend trends and instead focus on soft materials that won't irritate young skin.