The biphasic extraction from coffee waste without a prior drying process, to obtain coffee oil, which is transesterified with KOH catalyzed methanol to produce mixtures of glycerol free methylic esters, also known as coffee oil biodiesel, which is subjected to an aminolysis reaction with aminoethylethanolamine (AEEA) by heating to 140-160° C. at atmospheric pressure with a subsequent dehydration reaction at the same temperature but at a reduced pressure of 200 to 300 mmHg, in order to achieve cyclization of the intermediary amides into the corresponding imidazolines. Alternatively process, coffee oil can be submitted to the same aminolysis procedure with aminoethylethanolamine (AEEA) at 140 to 160° C. and atmospheric pressure with a subsequent dehydration reaction at the same temperature but at a reduced pressure of 200 to 300 mmHg, to produce imidazolines that contain the residual glycerol of the original triglycerides.