Nanofiber based sensors are described that can be used to detect analytes in biological or non-biological contexts. Each sensor includes at least two nanofiber yarns that are spaced apart from one another so as to avoid electrical (or physical) contact. Each nanofiber yarn of the nanofiber sensor includes a sensing region that is in electrical contact with the rest of the corresponding nanofiber yarn. The sensing regions of the at least two nanofibers are treated with complementary sensing agents so that when the sensing regions (and the corresponding sensing agents) are exposed to the analyte to be detected, an electrical response is detected. This response is then communicated through one or more of the nanofiber yarns for interpretation by a processor.