Quantum sensing takes advantage of well-controlled quantum systems for performing measurements with high sensitivity and precision. We have implemented a concept for quantum sensing with arbitrary frequency resolution, independent of the qubit probe and limited only by the stability of an external synchronization clock. Our conceptmakes use of quantum lock-in detection to continuously probe a signal of interest. Using the electronic spin of a single nitrogen-vacancy center in diamond, we demonstrate detection of oscillating magnetic fields with a frequency resolution of 70 microhertz over a megahertz bandwidth. The continuous sampling further guarantees an enhanced sensitivity, reaching a signal-to-noise ratio in excess of 104 for a 170-nanotesla test signal measured during a 1-hour interval. Our technique has applications in magnetic resonance spectroscopy, quantum simulation, and sensitive signal detection.