Stephen Baldwin has come out in support of civil marriage for gay and lesbian couples.

The 45-year-old Baldwin made his endorsement in the course of discussing Kirk Cameron's recent controversial comments.

During an appearance on CNN's Piers Morgan Tonight, Cameron told host Piers Morgan that being gay is “detrimental, and ultimately destructive” and that he would not be supportive if one of his six sons told him he was gay.

Baldwin, an evangelical Christian, told The Rosie Show host Rosie O'Donnell that she was one of the gay people in his life that he “loved and admired.”

“It hurts me personally when I see you saying that gay people don't have the same rights that you do,” O'Donnell said. “To be gay in America, people condemn you. Little guy from Growing Pains [Cameron] says you're responsible for the decline of civilization and society.”

“It's not what you say, it's how you say it,” Baldwin responded. “I have never said the gay community doesn't have any rights.”

“Do gay people they have the right to marry each other?”

“Yes,” Baldwin replied, then added, “Meaning, in their world ...”

“Well, not in your church,” O'Donnell interrupted. “Just legally in a union.”

“Absolutely,” Baldwin said. (The video is embedded in the right panel. Visit our video library for more videos.)

Later, Baldwin added he loved Cameron but he said it wrong, “because all sin … is never going to go away.”

(Related: Tracey Gold hits Kirk Cameron at GLAAD Media Awards.)