Orthogonal frequency division multiplexing (OFDM) is very sensitive to the carrier frequency offset (CFO). The CFO estimation precision heavily makes impacts on the OFDM performance. In this paper, a new Bayesian learning-assisted joint CFO tracking and channel impulse response estimation is proposed. The proposed algorithm is modified from a Bayesian learning-assisted estimation (BLAE) algorithm in the literature. The BLAE is expectation-maximization (EM)-based and displays the estimator mean square error (MSE) lower than the Cramer-Rao bound (CRB) when the CFO value is near zero. However, its MSE value may increase quickly as the CFO value goes away from zero. Hence, the CFO estimator of the BLAE is replaced to solve the problem. Originally, the design criterion of the single-time-sample (STS) CFO estimator in the literature is maximum likelihood (ML)-based. Its MSE performance can reach the CRB. Also, its CFO estimation range can reach the widest range required for a CFO tracking estimator. For a CFO normalized by the sub-carrier spacing, the widest tracking range required is from -0.5 to +0.5. Here, we apply the STS CFO estimator design method to the EM-based Bayesian learning framework. The resultant Bayesian learning-assisted STS algorithm displays the MSE performance lower than the CRB, and its CFO estimation range is between ±0.5. With such a Bayesian learning design criterion, the additional channel noise power and power delay profile must be estimated, as compared with the ML-based design criterion. With the additional channel statistical information, the derived algorithm presents the MSE performance better than the CRB. Two frequency-selective channels are adopted for computer simulations. One has fixed tap weights, and the other is Rayleigh fading. Comparisons with the most related algorithms are also been provided.