I think that the best thing that you could do to bring back the romance at least for this one evening it to have someone else watch your baby and plan a romantic evening, either at home or somewhere else.
If you don't have anyone that you trust to take care of your baby, then plan a romantic evening, anyway, a nice dinner with candles sort of thing. While the baby is asleep talk about anything that is not related to the baby or everyday living. Tell him, just like you did us, that you miss "US" before the baby came and the two of you agree to have a date night away from the baby at least 1 night/month. Perhaps have a date night even tho the baby is with you more often than that.
Another idea is to write him a romantic letter remembering times that you've had together and telling him how much you miss the "US" time before the baby came.
I suggest that you make time everyday to spend a few minutes with each other relating to each other as a romantic couple. Always hug and kiss before one of you leaves. Tell him often how much you love and appreciate him. Hug him often. Look at him with loving eyes. Hold his hand often whenever it's possible. I suggest this assuming that you did this before the baby came.