Larry Milbourne's two-out single in the 11th drove in Juan Espino and the New York Yankees beat the Baltimore Orioles, 4-3, yesterday in Miami. It was the second straight time the Yanks had beaten the Orioles (0-3).

Tim Stoddard, who pitched the last three innings and gave up two runs, was the loser. Doug Bird, who worked the last 1 1/3 innings, got the victory.

The winning run was unearned. Prior to Milbourne's hit, rookie shortstop Bob Bonner booted a grounder.

The Yankees scored twice off starter Dennis Martinez in the first inning.

Reggie Jackson drove in one run with a single and Oscar Gamble another with a double. Brooks Carey, Larry Jones and Jim Umbarger then blanked the Yankees until the 10th inning.

Eddie Murray of Baltimore doubled home a run in the second, then tied the game in the sixth with a homer.

Joe Lefebvre doubled behind Dennis Wirth's two-out single in the 10th to give the Yankees the lead, 3-2. But the Orioles tied it when John Shelby doubled and Mark Corey singled.

In the 11th, New York's Jim Spencer singled for his third hit. After a force play and a fly ball, Bonner made his error.