New Zealand beat a tough, physical France team 29-0 in the final in San Francisco to defend their title on Saturday (Sunday NZT).
In a repeat of the 2013 final in Moscow, which New Zealand won 33-0, the Kiwis got the flawless start.
England began brightly in the second half but blew it by conceding a penalty for holding onto the ball at a breakdown under pressure from Baker.
The women's championship semifinals on day two will see defending champions New Zealand play United States, with Australia against France on the other side of the draw.
The All Blacks Sevens also joined their female counterparts in securing the World Cup having also won gold at the Commonwealth Games on the Gold Coast earlier this year.
Sione Molia scored a double while Joseva Ravouvou, Akuila Rokolisoa and Trael Joass all crossing over.
England will play New Zealand in the final (02:53 SA time on Monday) in a repeat of the 2013 showpiece clash, while the Blitzboks will face Fiji (02:24 SA time) in the battle for bronze after the All Blacks were shock 22-17 winners in their semi-final against Fiji.
The Fijians went ahead 12-10 with a controversial try after the match officials ruled Amenoni Nasilasila's heel was not in touch after a desperation tackle by Collier.
Collier made a crucial tackle to snuff out a unsafe Fijian attack. Japan posted the first try of the game, but Fiji hit back with scores from Semi Kunatani, Jose Seru, Jerry Tuwai, Josua Tuisova, Semi Radradra and Jasa Veremalua as the fixture turned into a rout.
The Blitzboks opened the scoring through Selvyn Davids who expertly converted his own try from the touchline.