Over 71 games in two seasons at Miami (FL), Lecomte averaged 7.8 points and 2.0 assists while connecting on 43.4 percent of this three-point shots.
In April, Miami coach Jim Larranaga said Lecomte and fellow guard Deandre Burnett would transfer.
In accordance with NCAA transfer rules, Lecomte, a native of Brussels, Belgium, will miss the 2015-16 season before beginning the 2016-17 season with two years of eligibility.
"Manu's an outstanding young man who will really fit in well at Baylor University," Baylor coach Scott Drew said in a news release. "He's a high character kid, and he's a great fit for our program, both on and off the court. He's already had success at the DI level and internationally, so we're really excited to see what he'll be able to do in the nation's best conference."
Baylor finished 24-10 last season after being upset by No. 14 seed Georgia State in the opening round of the NCAA tournament. The Bears posted an 11-7 mark in Big 12 play and finished in fourth place in the conference standings.
The Bears are ranked 18th in SI.com's offseason power rankings.