In this study, we investigated the resonance mechanism of 6.78 MHz resonant wireless power transfer (WPT) systems. The depletion mode of a gallium nitride high-electron-mobility transistor (GaN HEMT) was used to switch the states in a class-E amplifier circuit in this high frequency. The D-mode GaN HEMT without a body diode prevented current leakage from the resonant capacitor when the drain-source voltage became negative. The zero-voltage switching control was derived according to the waveform of the resonant voltage across the D-mode GaN HEMT without the use of body diode conduction. In this study, the effect of the resonant frequency and the duty cycle on the resonance mechanism was derived to achieve the highest WPT efficiency. The result shows that the power transfer efficiency (PTE) is higher than 80% in a range of 40 cm transfer distance, and the power delivered to load (PDL) is measured for different distances. It is also possible to cover different applications related to battery charging and others using the proposed design.