"Can Baden-Baden be seen in a half day..."
It's not a place that I found time-consuming - or all that interesting for that matter. It's not very "Black-Foresty" if that makes sense.
It's a 40-min. train trip to B-B from G'bach station by train. But then you'll need to board a bus to get into town, which takes about 15 min. plus stopover time at the station, so you're looking at 1+ hrs each way. I suppose you could stop over in Baden-Baden on the way if you want to see it. Your train probably stops there.
I found Freiburg more interesting overall. It's about an hour from Gengenbach by train only.
I would probably just spend Day 1 in Gengenbach.
Alternatively, with any extra time you have you might explore a couple of nearby Kinzig Valley towns. The only one on your list right now is Gengenbach. Wolfach, Schiltach, Alpirsbach and Haslach, all of which can be reached by direct train from G'bach, are further upstream from Hausach and can be reached by direct train from G'bach. Here's a map.
https://de.wikipedia.org/wiki/Kinzigtalbahn_(Schwarzwald)#/media/File:Verlaufskarte_Kinzigtalbahn.png
Wolfach:
https://www.black-forest-travel.com/wolfach/
http://www.dorotheenhuette.info/index.html?&L=1
Schiltach:
https://www.orte-bw.de/grafik/uploads/12503_2010_1040.JPG
https://www.schiltach.de/en/Home?setActiveLanguageId=2
Haslach (only 10-12 min.s from Gengenbach, not on map but just west of Hausach)
http://www.haslach.de/site/Haslach+ROOT/get/params_E949037648/247699/header_fachwerkaltstadt.jpg
https://www.black-forest-travel.com/haslach/