With my dog trainer hat on..
Socialising/habituating dogs to babies/babies to dogs..
The intent should be that neither party finds the other REMOTELY interesting - ie, the dog thinks the baby is a predictor for treats from their human, finds that increasing distance from the baby is highly rewarding, finds that lying down quietly etc is rewarding.
And for toddlers (not so much babies before they get mobile) the same applies (but use different reinforcers, I don't think I'd fill up a toddler with hot dog sausage and squirty cheese)...
The idea of introducing them so that they actively like one another is wildly wrong - you end up with one 'magnetised' to the other and as neither is capable of making sensible, safe decisions, nor can either communicate with the other effectively and one is capable of killing the other... its just not smart.
So so many dog bites stem from people insisting dog and baby get in physical contact, that the baby pet/touch/hug the dog etc (which inevitably leads to grabbing, thumping, kicking, biting, all things babies naturally do with new textures/objects)... and then the dog either reacts.. and is told off, or tries to back away, and is told off and either way learns that the baby is BAD NEWS, unpleasant and worrying to be around and the adult humans are fuck all use either, they're not listening, not helping, not nice.
So no I would not have the dog come over to see the baby specifically - I would ask them to be prepared for baby to be present at whatever family events, and to work to distract their dog and reward their dog for moving away from, looking away from and generally ignoring the baby.
IF the dog sniffs a foot/gets a crafty lick of a hand or foot, the best response is total disinterest/ignoring from the person in charge of the baby... and an active distraction/redirection from the person in charge of the dog (not a telling off, a 'change the subject lets go over here and do something else' response).
But ideally the dog does not get near enough for that to happen, there is no need, there is no benefit where this is a dog who does not live in the childs home (and I'd be avoiding it even if the dog did live in the same home.)
Dogs and kids are safest when well supervised and when each feels like the other is of zero interest.