Waste oils used in biodiesel production contain high concentrations of free fatty acids. We studied the esterification of oleic acid, dissolved in soybean oil, with methanol in order to simulate its behavior. We used sulfonic exchange acid resin as the catalyst in two different reactors: a well-stirred slurry reactor (WSSR) and a spray tower loop reactor (STLR) both working at atmospheric pressure. Methanol was fed continuously to both the reactors with very low feed rates in order to minimize the amount of methanol emerging from the reactor outlet. This methanol removed the water produced in the reaction thereby favoring esterification. The WSSR and STLR had very similar performance in that were both better than that of a plug flow reactor (PFR) working in the same conditions of atmospheric pressure and low methanol feed rate. Both the WSSR and STLR showed liquid-solid phase mass transfer limitations. All the kinetic runs have been interpreted with a mathematical model adopting the kinetics previously developed by the authors using a well-stirred batch reactor. For both the reactors, the feasibility of a pseudocontinuous operation has also been successfully tested.