Efficient ion heating is crucial for future fusion devices, and the only way to heat ions directly is ion cyclotron resonance heating. Reported here is a full wave solver integrated with a Fokker–Planck code for optimizing ion heating with ion cyclotron range of frequency waves for the International Thermonuclear Experimental Reactor deuterium–tritium plasma. Both the direct absorption of minority ions and the power transfer to bulk ions via collisions are considered, while also accounting for the edge effects on ion absorption near the core. The simulation results show that the appropriate scrape-off layer density profile and parallel wave number lead to enhanced edge coupling and broaden the absorption region with moderate absorption intensity of the minority ions, which is very important for ion heating. More power from the heated ions is transferred to bulk ions than to electrons through collisions in our simulation via optimization, and reducing the total RF power results in a significant increase of the absorbed fraction of bulk ions.