It reported an underlying profit of £730m for the year to March, up from £357m a year earlier.
But it expects profits to be lower this year with customers "watching every penny" amid the rising cost of living.
Sainsbury's said it was trying to limit price increases despite facing higher costs from suppliers.
"We can see the early signs of customers being a bit more cautious, watching every penny, every pound," said chief executive Simon Roberts.
Consumer goods giant Unilever, which owns brands such as PG Tips and Marmite, said on Thursday that its prices have increased rapidly in the past few months.
Prices have gone up by 8.3% as costs for raw materials jumped and Unilever warned it was facing even higher costs for the remainder of the year.