We study some aspects of cosmologies in 5D models with one infinite extra dimension. Matter is confined to the brane, gravity extends to the bulk. Models with positive and negative tension of the brane are considered. Cosmological evolution of the 4D world is described by warped solutions of the generalized Friedmann equation. Cosmological solutions on the brane are obtained with the input of the present-time observational cosmological parameters. We estimate the age of the Universe and abundance of 4 He produced in primordial nucleosynthesis in different models. Using these estimates we find constraints on dimensionless combinations of the 5D gravitational scale, scale of the warp factor and coupling at the 4D curvature term in the action.