Mr Lavrov said the market for grain and fertiliser needed to be “predictable.”
Ms Baerbock said the effects of the two wars are hitting the poorest people the hardest around the world.
The G20 leaders adopted a joint summit declaration on Wednesday that includes sharp language on Russia’s invasion of Ukraine.
European Commission President Ursula von der Leyen, on Tuesday, accused Russia of using its gas as a weapon and destroying it instead of selling it.
Mr Putin had long left open his participation in the meeting, scheduled to hold between November 15 and 16.
Russian President Vladimir Putin has scheduled to receive UN Secretary-General António Guterres on Tuesday in Moscow.
He rejected Ukraine’s President Volodymyr Zelensky’s accusations that Russian soldiers had carried out a massacre there.
EU foreign ministers plan further sanctions against Russia over the poisoning of opposition politician Alexei Navalny.
