We study the dynamics of domain formation and coarsening in a binary Bose-Einstein condensate that is quenched across a miscible-immiscible phase transition. The late-time evolution of the system is universal and governed by scaling laws for the correlation functions. We numerically determine the scaling forms and extract the critical exponents that describe the growth rate of domain size and autocorrelations. Our data are consistent with inviscid hydrodynamic domain growth, which is governed by a universal dynamical critical exponent of 1/z = 0.68(2). In addition, we analyze the effect of domain wall configurations which introduce a nonanalytic term in the short-distance structure of the pair correlation function, leading to a high-momentum "Porod" tail in the static structure factor, which can be measured experimentally.