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Liquid lipase-catalyzed esterification of fatty acids with methanol is a promising process for biodiesel production. However, water by-product from this process favors the reverse reaction, thus reducing the reaction yield. To address this, superabsorbent polymer (SAP) was used as a water-removal agent in the esterification in this study. SAP significantly enhanced the conversion yield compared with the reaction without SAP. The lipase-catalyzed esterification in the presence of SAP was then optimized by response surface methodology to maximize the reaction conversion. A maximum conversion of 96.73% was obtained at a temperature of 35.25 °C, methanol to oleic acid molar ratio of 3.44:1, SAP loading of 10.55%, and enzyme loading of 11.98%. Under these conditions, the Eversa Transform lipase could only be reused once. This study suggests that the liquid lipase-catalyzed esterification of fatty acids using SAP as a water-removal agent is an efficient process for producing biodiesel.