You can make a baby mob by applying the appropriate spawn event in the /summon command.

For drowned and zombies, it is minecraft:as_baby, and for other mobs, it is minecraft:entity_born.

To summon a baby zombie or drowned:

/summon <zombie/drowned> X Y Z minecraft:as_baby

And to summon a baby animal:

/summon <entity type> X Y Z minecraft:entity_born

This does not work with villagers due to a bug.