The Toffees face Carlo Ancelotti's side in the fourth round at Goodison Park on Saturday.
Everton lost the final to Chelsea two years ago, and Baines expects another tough challenge, although beating big teams on the way to Wembley is not something that is alien to David Moyes' team.
"Chelsea were the team that beat us in the final two years ago, and on the way to that game we beat some good teams like Liverpool, Aston Villa and Manchester United," Baines told evertonTV.
"We want to have a good run in the cup and Chelsea are a big hurdle but one we have got to overcome if we have any ambitions to win a cup competition."
Source: PA
Source: PA