Alyssa Milano and baby Milo on the set of her new show, Mistresses, on March 26, 2012 Credit: Blanco/

Alyssa Milano is one hands-on mom!

The actress, 39, bonded with her 7-month-old baby boy Milo on the set of her new ABC series Mistresses in Hollywood Monday. Milano -- who appears to have lost all her baby weight -- carried her pride and joy on her hip in between takes. See more photos at X17.

"Letting Milo take a nap in my arms before I have to go to work on Mistresses," she tweeted Monday. "This working mom thing is no joke. You all made it look easy."

Because of her busy shooting schedule, Milano is doing everything possible to spend time with Milo. (Her husband David Bugliari is a CAA agent.)

Our schedule is never the same so I'm not sure a routine can be found," the actress explained via Twitter. "Milo came to visit today though and it made me so happy."

The actress first showed off her baby boy in an exclusive Us Weekly photo shoot in September 2011. "There is nothing like seeing the man you love with your child," the new mom gushed. "The other day David was carrying him in a BabyBjorn while making work phone calls! It was so sweet and beautiful."