Hello. Is the sensor supplied with 3VDC?
What does de output depend of? Is its variation linear?
You get a variation of 20mV, and the only thing you have to do is to move its 'zero' or eliminate its offset.
To do that you can use a non-inverting amplifier with a reference signal connected to the reference resistor (not the feedback one). The other way is to use two inverting opamps. Both ways will involve 2 op amps, because with the non-inverting amplifier needs a voltage coming from a buffer.
Another way to move its offset is with two resistors, depending of the ratio between them you will vary the offset being added.
That final voltage (between both summing resistors) must go to a high impedance (10 times the thevenin total resistance).
Then you should amplify the output voltage so it fits to the ADC referece voltages, which will increase the precision.
Hope being useful.
Bruno.-