AFAIK, in the US it is technically illegal to transmit with a Baofeng radio in any way without a license. Even if you program it to only use the FRS/GMRS frequencies, it is not properly FCC certified as a device that is legal for use on those bands by an unlicensed operator. (For one thing, it may exceed the legal output power limit.)

With an amateur license you can use pretty much whatever equipment you want, including homemade. But then the obligation to obey the legal limits is borne by you, not the manufacturer. And Baofeng radios have a reputation for emitting lots of nasty harmonics and noise outside the desired transmission bands.

Of course, none of this should deter you from using whatever is available in an emergency. The FCC regulations include a clause allowing you to bend the rules if it is immediately necessary to do so to prevent imminent danger to life or property.