I found Baccarat much easier, but then I'm more into cards than craps. If you are playing the standard game it is fairly simple because the rules about drawing cards are so strict, which also means it is more a game of chance than things like Poker.
Craps would obviously be the "harder" of the two to learn based mainly on the myriad of different wagers that can be made playing craps while baccarat is pretty much an EC type of game with a few side wagers, none of which need to be learned.
Baccarat was much easier for me. It has fewer bets and no need to handle dice combinations. If someone knows Blackjack, they can learn Baccarat without a problem.
I agree that Baccarat seems to be the easier of the two to learn. I think that it mostly depends on what you're most inclided to, whether it's cards or dice games.