Using a Baofeng radio on the FRS band is illegal. Transmission on the FRS band is limited to 500 milliwatts using FCC-approved devices only. Baofeng radios are not approved and can transmit at up to 5 watts.
However, if you get an Amateur Radio license, you can transmit in the 2 meter and 70cm bands at full power, legally, using your Baofeng radio.
It's illegal for a good reason. You may prevent emergency communication with others using licensed equipment. Incorrect use of the radio can also cause interference outside of the FRS band entirely. (Particularly with the Baofengs, which have poor/no output filtering and often cause "splatter" tens of kilohertz off the frequency you think you are transmitting on.)
However, if you get an Amateur Radio license, you can transmit in the 2 meter and 70cm bands at full power, legally, using your Baofeng radio.
https://en.wikipedia.org/wiki/2-meter_band
https://en.wikipedia.org/wiki/70-centimeter_band
http://www.arrl.org/getting-licensed