Background/Objectives: Our study aimed to verify the effects of 6 weeks of concurrent training composed of resistance training (RT) and different modalities of aerobic exercise (moderate-intensity continuous training (MICT) or high-intensity interval training (HIIT)) on body composition, blood pressure, vascular function, autonomic nervous system (ANS) function, blood lipid levels, cardiometabolic index (CMI), and health-related fitness in obese middle-aged women with prehypertension. Methods: We selected 26 middle-aged women with obesity and prehypertension and divided them equally into the RT + MICT (n = 13) and RT + HIIT (n = 13) groups. The concurrent training program consisted of warm-up, RT, aerobic exercise (MICT or HIIT), and cool-down, and was performed for 6 weeks, three times a week, 85–100 min per session. The measured dependent parameters were analyzed before and after training. Results: Concurrent training (RT + MICT and RT + HIIT) for 6 weeks showed significant improvements in body composition, blood pressure, vascular function, ANS function, CMI, and health-related fitness. However, the RT + HIIT group showed a relatively greater improvement in blood lipid levels compared to the RT + MICT group. Conclusions: Our study confirmed that both RT + MICT and RT + HIIT yielded similar positive effects on most health-related parameters in obese middle-aged women with prehypertension. Among them, RT + HIIT appeared to be relatively more effective in improving blood lipid profiles.