To carry out the subject esterification through advantageously proceeding the reaction without being subjected to any hamper within each specific range of the surface renewal rate and the agitation Reynolds number of the reaction liquor.

When a reaction is carried out between an alcohol compound (pref. an amino alcohol) and a sulfuric acid esterification agent under agitation using an agitator in a reaction vessel while distilling off by-product water, the surface renewal rate of the reaction liquor calculated by the formula (S is the surface renewal rate of the reaction liquor; Np is power number; N is agitation rate; (d) is the diameter of the blade of the agitator; D is the diameter of the reaction vessel; V is the volume of the reaction liquor) and the agitation Reynolds number of the reaction liquor are ensured to fall within ranges of 0.1-1.5m2/s and 1-105, respectively. It is preferably that the esterification is conducted in the absence of any organic solvent under reduced pressures, the blade of the agitator is of three-impeller swept-back type, and the reaction vessel is also mounted with a baffle in its longitudinal direction.