Bake textures to low poly model

I want to bake textures from my high poly model to low poly. I created textures in Substance Painter. I want to bake not only the base texture, but also normal, height and roughness textures as well and not from the high poly mesh, but from the textures which were created in Substance. Is this possible and how to do this?

In other words I don’t know how to bake PBR textures from high poly mesh to low poly