Technically the Baofengs (most) are illegal to use except on ham radio frequencies with the proper license.
Please be mindful of the frequencies you are using, I would suggest sticking with the FRS or MURS frequencies.
Even the Rugged Radios are programmed with frequencies that you are supposed to have a license to use. The licenses are regional and you can interfere with many entities that are actually licensed for those frequencies.
1 WTHRMN 151.625
2701 Licensed users. Including: Union Pacific, FCA US, Subaru, University of Oklahoma, NM State University, BP, Exxon, Boeing, Vertex standard (Yaesu ham radios), UPS
2 BFGRLY 151.715
1243 Licensed users. Including: Many school districts, City/State agencies, McDonalds, and various businesses.
3 BAJAPTS 154.980
644 License users. Including: State, City, County, Police and Fire for States all over the country.
4 NETWORK 151.685
1232 Licensed users. Including: American Airlines, School districts and Universities, Costco, fast food restaurants.
5 CHECKRS 151.925
1178 License users. Including: Verizon, Haliburton, Hospitals, City/State, Schools/Colleges, various businesses.
6 FAIR 150.860
127 License users. Including: Hospitals, automotive, schools.
7 YOKOHAM 153.110
396 License users. Including: Exxon, Marathon Oil, Shell, ConocoPhillips, Chevron, NBC Telemundo, FCA US, CBS, Clear Channel, various other TV/Radio.
8 RUGGED RELAY 152.960
653 Licensed users. Including: Various Oil/Gas companies, Concrete companies, Kingsford Charcoal, many farms, Urgent Ambulance service, schools.
9 CHKRS 2 151.505
1736 Licensed users. Including: UPS, Construction companies, Conoco, Phillips 66, Exxon, Goodyear, AM General, T-Mobile, Tampa Bay Search and Rescue & REACT. Denali Off Road club holds a license for their members.
10 BFGPITS 153.395
282 Licensed users. Including: FCA US, Northrop Grumman, Dow Corning, Oil/Gas, farms, Tyson foods, Kroger, Oklahoma State University, Boeing.
11 MAG 7 153.380
295 Licensed users. Including: GE, PPG Paints, Ford, Trane, Citgo, 3M, Green Bay Packaging, Valero, Yokohama Tires, OK State, University of Texas Permian Basin, Idaho Power Company, New Hampshire, Electric Coop, IBM.
12 RESCUE 155.160
1133 Licensed Users. Including: National Ski Patrol, many search and rescue teams, many municipalities, schools, and hospitals.
13 CORE 153.245
227 Licensed Users. Including: Sinclair, Exxon, Dow Corning, Northrop Grumman, 3M, Volvo Trucks, Nestle Purina, various manufacturing companies, Dana (axles), many schools, municipalities.
14 PRIVATE 156.675
117 Licensed Users. Including: Municipalities, Chevron, Shell, towing companies, oil/gas, many maritime businesses,
15 SANDLMO 152.510
53 Licensed Users. Including: Communication companies, Telephone companies,
16 PCI RLY 154.515
1738 Licensed Users. Including: Municipalities, many Hospitals, many schools, Fastfood.
17 BITD 151.490
540 Licensed Users. Including: Oregon State Forestry, Nevada Dept of Wildlife, State of Arizona, Penn State Police, State of California, farms, NH State Dept of Corrections, City/County, State of Maine Info Tech, Texas DOT, schools, State of Washington, State of West Virginia, Lockheed Martin,
18 KOH 1 157.450
200 Lincesed Users. Including: many hospitals, schools, City/County, State of New Jersey, City of New York, State of Colorado, State of California, State of New Mexico, LA County, State of Nebraska.