The essential elements of a Waldorf Kindergarten are not the specific activities (baking, painting, etc.) but should reflect the underlying philosophy of Waldorf-inspired kindergarten: It's play-based, non-academic, and nature-inspired. 

The kindergarten-aged child (and even the 3-4-year-old) learn through imitation, open-ended creative play, movement, music, stories, artistic activities and purposeful work. 

Your role as the parent is to form the daily and weekly rhythm, create lots of opportunity to learn and play, and build your relationship with your child.