Yes—this is usually a focus/distance or depth-of-field issue rather than a special selfie mode problem.

Try these steps:

• Turn off face detection/eye detection. It may lock onto your face and ignore the baby.
• Use normal autofocus instead of face detect so the camera focuses on the nearest clear subject.
• Stop down the aperture (use a higher f-number, such as moving from f/1.4 or f/2 toward f/2.8 or f/4). This increases depth of field so both of you are more likely to be sharp.
• If possible, use a wider focal length and hold the camera a bit farther away, which also helps depth of field.
• If blur is caused by movement rather than missed focus, use a faster shutter speed.
• A tripod and self-timer can make framing and focusing easier.

If you test different apertures, increase the f-number step by step and check which setting keeps both of you acceptably sharp.