We report the observation of stimulated Brillouin scattering and lasing at 1550~nm in barium fluoride (BaF$_2$) crystal. Brillouin lasing was achieved with ultra-high quality ($Q$) factor monolithic whispering gallery mode (WGM) mm-size disk resonato
rs. Overmoded resonators were specifically used to provide cavity resonances for both the pump and all Brillouin Stokes waves. Single and multiple Brillouin Stokes radiations with frequency shift ranging from $8.2$ GHz up to $49$ GHz have been generated through cascaded Brillouin lasing. BaF$_2$ resonator-based Brillouin lasing can find potential applications for high-coherence lasers and microwave photonics.
