Hi,
I agree she does sounds controlling. How was she before the birth of your baby? Having a new baby can magnify any pre-existing problem because they're stressfull and lots of work, despite their cuteness lol. Have you told her you don't like the criticism when you help out? Maybe it would help if she gets a break and like you said, you can babysit. It's also important for you and her to have some alone time - get a family member/friend to babysit.

When you said you go to your friends and mothers twice a week - do you stay all night? It's important for couples to learn how to fight fairly and communicate well. Are either of her parents the critical type? Here's a fighting fairly link and it's important for you both to work on the tips together.

http://www.oprah.com/relationships/How-to-Fight-Fairly