The lipase-catalyzed reaction is useful to obtain sugar esters with chemically defined structures and will contribute to the synthesis of sugar-based compounds by a chemo-enzymatic pathway. The synthesis of sugar esters in nonaqueous media has been attempted for a quarter century. To facilitate the reactions, they have been performed either in an organic solvent with/without a polar adjuvant or in an ionic liquid, or by using a hydrophobic sugar derivative. In this review, the following points are discussed: (1) various synthetic methods of sugar esters; (2) role of the solvents or adjuvants; and (3) improvement in the productivity.