Bisphenol A (BPA) has been classified as an endocrine-disrupting substance that may cause adverse effects on human health and the environment. The development of simple and sensitive electrochemical biosensors is crucial for the rapid and effective quantitative determination of BPA. This work presents a study on electrochemical sensors utilizing gold nanoparticle-modified multi-walled carbon nanotubes (CNT/AuNPs). Glassy carbon electrodes (GCEs) and screen-printed electrodes (SPEs) were conveniently modified and used for BPA detection. AuNPs were electrodeposited onto the CNT-modified electrodes using the galvanostatic method. The electrodes were properly modified and characterized by using Raman spectroscopy, cyclic voltammetry (CV), and electrochemical impedance analysis (EIS). The electrochemical response of the sensors was studied using differential pulse voltammetry (DPV) and constant potential amperometry (CPA) for modified GCE and SPE electrodes, respectively, and the main analytical parameters were studied and optimized. Problems encountered with the use of GCEs, such as sensor degradation and high limit of detection (LOD), were overcome by using modified SPEs and a flow injection device for the measurements. Under this approach, an LOD as low as 5 nM (S/N = 3) was achieved and presented a linear range up to 20 μM. Finally, our investigation addressed interference, reproducibility, and reusability aspects, successfully identifying BPA in both spiked and authentic samples, including commercial and tap waters. These findings underscore the practical applicability of our method for accurate BPA detection in real-world scenarios. Notably, the integration of SPEs and a flow injection device facilitated simplified automation, offering an exceptionally efficient and reliable solution for precise BPA detection in water analysis laboratories.