A powerful technique based on the sinc-Galerkin method is presented for obtaining numerical solutions of second-order nonlinear Dirichlet-type boundary value problems (BVPs). The method is based on approximating functions and their derivatives by using the Whittaker cardinal function. Without any numerical integration, the differential equation is reduced to a system of algebraic equations via new accurate explicit approximations of the inner products; therefore, the evaluation is based on solving a matrix system. The solution is obtained by constructing the nonlinear (or linear) matrix system using Maple and the accuracy is compared with the Newton method. The main aspect of the technique presented here is that the obtained solution is valid for various boundary conditions in both linear and nonlinear equations and it is not affected by any singularities that can occur in variable coefficients or a nonlinear part of the equation. This is a powerful side of the method when being compared to other models.