Dlamini was most recently working as an assistant coach at First Division club Mbombela United and has also previously worked in Swaziland.
He was also once an assistant coach to Neil Tovey at Thanda Royal Zulu some five years ago.
Dlamini starts his duties today and will be on the bench when Baroka visit FC Cape Town on Saturday.
“Milton is coming to work as a co-coach with Kgoloko and starts his duties today,” says club spokesman Jimmy Ngobeni.
At Mbombela United Dlamini was briefly in charge late last year after the departure of Vusi Mkhatshwa. But he was then moved back to work as an assistant after the appointment of Aschwin Sutton at the beginning of this year.
He left Mbombela last month on good terms, according to club boss Oupa Matsebula.
Baroka started off the season under Thobejane who was demoted at the beginning of the year after the shock appointment of Jacob Sakala as the new coach, who had Mark Harrison as a technical advisor.
However, after two games in charge Sakala was suspended along with his assistant Edward Williams and Harrison, with Thobejane brought back to the helm.
Matsemola Thoka remains the assistant coach.