Filter Bank-based Multicarrier with Offset Quadrature Amplitude Modulation (FBMC/OQAM) has been considered as an alternative waveform to the conventional Cyclic Prefix (CP)-based Orthogonal Frequency Division Multiplexing (OFDM). Despite the adoption of variants of the latter in 5G NR, FBMC/OQAM is still at the top of the promising multicarrier modulation waveforms for future generation communication systems. Although it enjoys a number of unique advantages over CP-OFDM, most importantly maximum spectral efficiency and good time-frequency localization, it is also sensitive to Carrier Frequency Offset (CFO), which can cause inter-carrier interference that degrades system performance if left uncompensated. Besides, the presence of CFO prevents accurate channel estimation. In this paper, our goal is to propose joint estimators for the channel impulse response (CIR) and CFO via an approximate Maximum Likelihood (ML) approach. No simplifying assumption is made about the channel delay spread so our results also apply to highly frequency selective channels. One of the novelties is that the estimation procedure is aided by so choosing the pilots as to result in zero intrinsic interference in the absence of impairments. Moreover, to reduce the complexity of CFO estimation, a lighter implementation, based on the truncation of the Taylor series expansion of the exponential term containing the CFO, is proposed. Simulation results demonstrate the superiority of the proposed estimators over existing methods, in terms of both mean squared estimation errors and bit error rate.