Coming out of high school, Aguayo was regarded by Kohl's as one of the top ranked high school kickers in the country. He chose to attend Florida State University and during his prolific career at FSU, he cemented himself as one of the best in the country yet again. He was a three-time First Team All-American, three-time First Team All-ACC, two-time ACC Champion, BCS national champion and Lou Groza Award winner, all during his three seasons of playing.
He decided to forgo his senior season and declared for the 2016 NFL Draft. The Tampa Bay Buccaneers traded the Kansas City Chiefs for the 59th overall pick that they would use to select Roberto. He was the first kicker selected in the second round since Mike Nugent in the 2005 Draft. He was 22/31 field goals (71%) during his rookie season with a long of 43.