Experiments were conducted using waste cooking oil to produce biodiesel for this study. The effects of the control parameters in the transesterification process on the yield of biodiesel were investigated. The results were then compared with the control parameters in the transesterification process using the soybean oil. The parameters considered for our experiments included methanol-to-oil ratio, stirring rate, reaction time, reaction temperature, type, and amount of catalysts. The yield of biodiesel was measured and analyzed with high performance liquid chromatography (HPLC). The experimental results suggested that reaction time should reach 120 minutes, methanol-to-oil ratio should be at least 6:1, stirring rate should be 900 rpm, and the best operation temperature was about 60-70℃. By combining the individually optimized parameters for this study, the yield of the biodiesel produced from waste cooking oil reached as high as 90.83%.