Vapor-permeation (VP) aided esterification of oleic acid with ethanol and methanol was carried out at 383 K using both a pressurized vapor circulation system and a laboratory module of Zeolite membrane with excellent VP performance of dehydration of organic liquids. The combined process provided almost complete conversion in a short reaction time with the initial molar ratio of alcohol to oleic acid (m0) of 1.5. The reaction time, as for ethanol, was reduced by a factor of 1/3 as compared with the process carried out under the atmospheric pressure using a laboratory module of polyimide hollow fiber. The loss of alcohol by permeation was below 0.01% of the feed for ethanol and was only 0.16% for methanol. This indicates that the almost complete reaction can be achieved even if m0 goes down to unity. The Zeolite membrane worked effectively and stably for a long period, and is useful for achieving the highly efficient process of esterification.