Zlatan Ibrahimovic, Thiago Silva and Alessandro Nesta were among a host of players who left the Italian giants in the summer.
"I hope [Mattia] Di Sciglio will have a long career with Milan, while [Nigel] De Jong is a player with character and technique," Baresi told Milan Channel.
"The frontline is young and I hope they'll do well. [Alexandre] Pato should be back soon too.
"It's not easy to start again after all the players who have left, but Milan will be competitive this year as well."