An image forming apparatus includes an image bearer, a driver, an image forming device, a sensor, and circuitry. The driver drives and rotates the image bearer. The image forming device forms a toner image on the image bearer driven and rotated by the driver. The sensor emits light to the image bearer and receives reflected light. The circuitry controls the driver and the image forming device to form a first toner image with a first color and a second toner image with a second color different from the first color. The circuitry controls the sensor to detect specularly reflected light and diffusely reflected light from the first toner image and the second toner image. The circuitry calculates an amount of misalignment of the first toner image and the second toner image based on a value of the specularly reflected light and a value of the diffusely reflected light.