If you want to stay in the Inner Harbor area, and be close to Camden Yards, try the Goddess Showbar. I went there 4 years ago, but the decor should still be the same. It is next to the Marriott Inner Harbor.
http://www.goddessshowbar.com
Quick review of my visit from August 2003:
38 South Eutaw Street (NW corner of Lombard), Baltimore, MD
2 blocks north of Camden Yards, and directly next to the Marriott Inner Harbor.
First bonus - no cover! Typical oval bar with 1 or 2 dancers dancing on a small center stage away from everbody. Occasionally a dancer would climb up on the bar and ask for dollars, or walk around the bar after the set and ask for tips. They are not pushy for lapdances either. You actually almost have to ask them.
Around the bar area are booths, and the lapdance area is in the back part, dark, circular, but completely viewable by everbody.
Dancers strip nude on stage but lap with bottoms on. Full alcohol bar is served.
A beautiful black woman caught my eye. B-cup, tall and slender, nice ass, long black hair and mocha skin. When she returned, I asked her about private dances. 20 bux for the ladies' drink, plus 60 bux for 3 dances. (buying a ladies' drink is the norm here - have not seen this anywhere else) All paid to the bartender up front. She said I can touch anywhere except between her legs.
Grinding was good. I could not take my eyes off her neon tongue stud also.
The 3 dances were long, with short 20 second breaks between songs. So in any other bar it could have been at least 4 songs.
I tipped her 20 bux and went back to the bar. Not bad for 100 bux spent. I figured that not paying a cover made up for it.