A customized transmission-type metasurface design is developed for high-efficiency wavefront modulation by employing a level set-based topology optimization approach. The metasurface consists of periodically arranged supercells made of discrete unit cells aiming to form a precisely linear phase gradient of the transmitted wave ranging from 0 to 2π with high transmittances. The configuration of each unit is optimized to generate a desired phase and amplitude response of the transmitted wave at the interface. The transmitted wavefront steering realized by the phase-gradient metasurface is numerically and experimentally verified according to the diffraction theory, demonstrating that the level set-based topology optimization approach is a viable and effective technique for developing a transmitted phase-gradient metasurface. Afterwards, the designed optimal unit cells are elaborately arranged to form desired phase shift distributions for realizing fascinating acoustic functionalities, including acoustic energy focusing and acoustic Airy-like beam generation, further demonstrating the ability of the optimal units to achieve unprecedented transmitted wavefront control. This study presents a promising approach for customized transmission-type metasurface design based on the level set-based topology optimization, which is expected to be significantly valuable for acoustic device development.