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No, Colin Baker(who plays the Sixth Doctor) and Tom Baker(who plays the Fourth Doctor) are not related.

(The surname 'Baker' would have originally been used by anyone was was a baker, and thus many unrelated people will have the same surname.)

Of course if you go back far enough, everyone is distantly related to everyone else, but any connection between the two of them is far in the misty past—a relative of Colin Baker's traced their genealogy, and Tom's family is nowhere in sight (although Peter Davison might be a distant relative). Which means if Davison is a distant relative, then David Tennant would be now too owing to his marriage to Davison's daughter.