From what everyone's told me, Baroque is pretty bad. It sounds like an interesting concept, but it wasn't done right.
Mana Khemia is an excellent game though. It has a very good battle system that keeps evolving the further you get into the game. There were many times when I though "well with this upgrade, I probably have access to the full battle system now" But it keeps getting upgraded with new features, and once you're able to do tag team switches, it feels like it opens up a whole new door to the battle system.
Whatever the rest of the game has to offer, it doesn't change the fact that Mana Khemia has imo one of the best battle systems on PS2. Don't be fooled by the cute in battle sprites (I kind of was before I tried it), it has a serious battle system.
http://www.youtube.com/watch?v=YLo0DWaYny8Here's a clip of a battle. It's hard to follow what's going on unless you're familiar with the system. But if you look at the turn cards above, to the right there are three cards representing the characters on standby. Once they're fully charged (takes only one turn later in the game, like here) they can be tagged in at any time to either do a defensive action and take the blow for another member, or support an attack by coming in and finishing it off with an offensive attack.
Being on standby recharges your HP and MP (faster when you unlock new skills that increases the speed) so you'll really want to switch in and out a lot, and because characters have offensive and defensive tag skills, you're encouraged to do it more. And that's what makes the battle system really fast paced and fun.
(If you check the video, at the beginning of the battle he uses a skill that gives the main character 3 consecutive turns, but gets hit and takes a lot of damage first. Instead of using his last turn to heal, he uses it for an attack, and tags in another character to finish the attack, and the main character goes to standby where his HP and MP will refill again.)
You can switch characters without taking any action as well of course.
Each character has a different offensive/defensive skill. (And they can learn more later) For example, Muppy takes the damage for the whole team when you tag him in defensively. While Phyl will use an all targeting healing spell for free when you tag her in defensively. If you tag in Fllay offensively, he causes Def. down status on the opponent. (Always seems to work, even on bosses)
Another nice thing about the battle system that I liked is that the game has several battle themes. At least four different battle themes, not counting boss battle themes.
The game itself is a bit like Persona 3 in a few ways. It even has Social Links you can increase, but unlike P3 it's only among the main characters, and only to Level 5. And it determines the ending you get rather than boosting some battle ability.
And also unlike P3, it doesn't have randomly generated dungeons, but areas in the world you can explore.
The main focus of the game besides the story is probably the synthesizing (alchemising). The synthesizing was a lot more fun than I expected it to be. In fact, while I had yet to encounter a game where I liked to synthesize items, in Mana Khemia I actually ended up looking forward to it. It's because the alchemizing is so fleshed out in Mana Khemia. You get lots and lots of ingredients all throughout the game. But in order to create a new item, you need to find a recipe for it first.
Once you create an item, a corresponding icon of that item will appear on the "sphere grid".

And the fact that each and every item in the game, no matter how insignificant, has it's own detailed unique artwork icon only made it more fun to synthesize.
You can spend SP on that point to unlock 1-3 stat boosts or skills. So not only do you get a new armor/weapon/equipment/item, but you'll also get stronger stats and skill wise when you synthesize. There is no normal level up. You get SP from battles that you can spend on the sphere grid once you unlock new items.
And synthesizing items allows you to customize what abilities you want them to have.
The characters in the game are another plus. There are mainly comic relief characters, but they're done well.
The story is not the most complex one, but enjoyable due to the characters.
I enjoyed Mana Khemia quite a bit more than I expected. I played a bit of Atilier Iris, and couldn't get into it. So I was surprised that I got to like Mana Khemia so much.