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This study used a simple and efficient dipping method to prepare oleophilic calcium stearate-coated kapok fibers (CaSt2-KF) with improved hydrophobicity. Fourier transform infrared spectroscopy (FTIR), X-ray diffraction (XRD), and scanning electron microscopy (SEM) confirmed the deposition of calcium stearate particles on the surface of the kapok fibers. This led to higher surface roughness and improved static water contact angle of 137.4°. The calcium stearate-coated kapok fibers exhibited comparable sorption capacities for kerosene, diesel, and palm oil. However, the highest sorption capacity of 59.69 g/g was observed for motor oil at static conditions. For motor oil in water, the coated fibers exhibited fast initial sorption and a 65% removal efficiency after 30 s. At equilibrium, CaSt2-KF attained a sorption capacity of 33.9 g/g and 92.5% removal efficiency for motor oil in water. The sorption kinetics of pure motor oil and motor oil in water follows the pseudo-second-order kinetic model, and the Elovich model further described chemisorption. Intraparticle diffusion and liquid film diffusion were both present, with the latter being the predominant diffusion mechanism during motor oil sorption.