In the inductive wireless power transmission (WPT) designs of consumer electronics and implantable devices, the printed planar coil in standard manufacture is commonly used. Layout optimization of the coils is one of the important ways to make the power transmission system more efficient. Varying the trace width and turn-to-turn spacing together for the coils is proposed to optimize the maximum achievable power transfer efficiency (𝜂max). An accurate analytical model for the printed square coils is also established as well to speed up the design process. By virtue of this model, an optimal scaling factor of the trace width and the optimal frequency can be quickly estimated. The proposed model is validated by both the simulations (ANSYS HFSS) and experiments. A WPT link of two planar coils with size of 50 mm × 50 mm × 1 mm, operating at 23 MHz, is optimized by using this methodology. After optimization, the measured 𝜂max of the WPT system is increased from 22.60% to 32.74% at a 100-mm transmission distance.