This article proposes and implements a novel magnetic quasi-resonant coupling (MQRC) scheme to realize the concept of energy-on-demand wireless power transfer (WPT). To prevent illegal receivers harvesting wireless energy, the proposed energy-on-demand technology nominates the authorized receiver to take over the initiative and generate a well-defended security key based on a two-dimensional frequency-and-duration chaos. The switched-capacitorless quasi-resonant transmitter flexibly employs a new continuous operating frequency regulation strategy to self-adapt the arbitrary energy-on-demand from the authorized receiver, hence achieving synchronous multifrequency WPT. Moreover, the proposed MQRC-WPT system takes the merit of power transmission enhancement over conventional one while improving the transmission efficiency especially during low power level. Theoretical analysis, electromagnetic simulation, and practical experimentation are provided to verify the feasibility of proposed energy-on-demand MQRC-WPT system with security.