In this article, a dual-resonating-frequency (DRF) compensation topology is adopted and implemented for exciting the decoupled-double D (DDD) transmitting coils in the dual-frequency wireless power transfer (WPT) systems. Concretely speaking, two double D (DD) coils are located orthogonally and compactly to obtain the effect of magnetically decoupled in both primary and pickup sides. Meanwhile, by adopting the proposed DRF compensation, two arbitrarily predefined resonating frequencies can be realized, thus forming a dual-channel transmission mechanism. Besides, the power distribution of two different frequencies can be randomly regulated based on the users’ requirement by adopting the proposed frequency overlay modulation (FOM) excitation scheme. Combining with the merits of dual-frequency simultaneous transmission, no cross-coupling among pickup coils, and arbitrarily power distribution, the proposed WPT systems can satisfy customers’ various demands and boost transmission efficiency. Theoretical analysis, simulation, and experimentation are given to verify the feasibility of the proposed WPT systems.