Talking about intimate body parts and bodily functions is always a tricky decision:
We generally have a choice of
medical terminology (look in a dictionary)
vulgar and crude language ( I'm sure you know these words)
baby-talk (as in your question)
coy euphemisms ( e.g. 'number twos')
You'd use the first to your doctor and the second (perhaps) among close friends. In most other situations, the third is probably the least inappropriate option. So yes, informally, if you don't want sound vulgar, pretentious, or coy, then sometimes adults do say 'poop' (or 'poo' in GB English) . If none of the other words seem right, then sometimes baby-talk is the best choice.