Taylor and Robinson managed to get to the foul line for Kansas, but Heslip's 3-pointer with 2:03 left gave Baylor a 70-64 advantage, and his next 3 with 1:12 go made it 73-66.
Except for a small contingent of Baylor fans, the arena was quiet the rest of the way.
"Very pleased with our guys from the standpoint we've been successful against Kansas before in spurts, and then they'd have a spurt and we couldn't answer the run," Drew said. "When they made a run tonight, I was really pleased with the character of our guys."
Copyright 2012 The Associated Press. All rights reserved. This material may not be published, broadcast, rewritten or redistributed.