The use of heterogeneous catalysts to produce fatty acid methyl esters (FAME) through transesterification with methanol might contribute to both green chemistry and a circular economy, as the process can be simplified, not requiring additional stages to recover the catalyst once the reaction takes place. For this purpose, different catalysts are used, including a wide range of possibilities. In this research the use of NaNO3/SiAl as a heterogeneous catalyst for FAME production through transesterification of rapeseed oil with methanol is considered. A thorough characterization of the catalyst (including XDR and XPS analysis, SEM microscopy, lixiviation and reusability tests, among others), specific optimization of transesterification by using the final catalyst (considering catalyst amount, stirring rate, methanol/oil ratio, and temperature), and quality determination of the final biodiesel (following the UNE-EN 14214 standard) were carried out. In conclusion, 20 mmolNa·gsupport−1 (that is, NaNO3/SiAl 20/1) offered the best results, with a high activity (exceeding 99% w/w of FAMEs) without requiring higher impregnation amounts. The best chemical conditions for this heterogeneous catalyst were 5% w/w catalyst, 700 rpm, 9:1 methanol/oil ratio, and 65 °C, obtaining Ea = 73.3 kJ·mol−1 and a high-quality biodiesel, similar to those obtained through homogeneous catalysis. Consequently, this catalyst could be a suitable precursor for FAME production.