IoT is getting connected to an increasing number of mobile devices. A key requirement of these devices is to accurately estimate range and Doppler in various applications, in addition to data communication. Research efforts therefore include incorporating the devices with high-data rate communications together with FMCW radar sensing capabilities. Range and Doppler sensing, in FMCW radars is undertaken by FFT which is computationally demanding. It is challenging to design baseband processing with FFTs that can be implemented as low computational hardware. This paper, presents novel sensing based on Goertzel filtering, leading to considerable reduction in computations compared to the FFT.