Electrical bioimpedance entails the measurement of the electrical properties of tissues as a function of frequency. It is thus a spectroscopic technique. It has been applied in a plethora of biomedical applications for diagnostic and monitoring purposes. In this tutorial, the basics of electrical bioimpedance sensor design will be discussed. The electrode/electrolyte interface is thoroughly described, as well as methods for its modelling with equivalent circuits and computational tools. The design optimization and modelling of bipolar and tetrapolar bioimpedance sensors is presented in detail, based on the sensitivity theorem. Analytical and numerical modelling approaches for electric field simulations based on conformal mapping, point electrode approximations and the finite element method (FEM) are also elaborated. Finally, current trends on bioimpedance sensors are discussed followed by an overview of instrumentation methods for bioimpedance measurements, covering aspects of voltage signal excitations, current sources, voltage measurement front-end topologies and methods for computing the electrical impedance.