Kelly Mahon, 41, was arrested with another woman after the baby disappeared on Wednesday afternoon.
He was located safe and well about three hours later.
Ms Mahon, of John Broad Avenue, Arleston, was remanded in custody at Telford magistrates on Friday.
She will appear at Shrewsbury Crown Court on Friday 25 March.
A 53-year-old woman was released without charge.
A woman has appeared in court charged with kidnap after a nine-week-old boy was reported missing from his home in Telford.