Kinetic Alfvén waves (KAWs) are simulated with a 3D particle-in-cell (PIC) code by using the eigenvector relations of density, velocity, electric, and magnetic field fluctuations derived from a two-fluid KAW model. Similar simulations are also performed with a whistler waves setup. The 2D two-fluid eigenvector relations are converted into 3D by using rotation of the reference frame. The initial condition for the simulations is a superposition of several waves at scales slightly larger than the ion skin depth. The nonlinear interactions produce a transfer of energy to smaller scales. The magnetic field perturbation ratios, velocity perturbation, and density perturbation ratios are calculated from the simulation at higher wavenumbers and compared with the analytically expected ratios for KAWs and whistler waves. We find that in both types of simulations, initialized either with an ensemble of KAWs or with whistlers, the observed polarization relations at later times match better with the KAW relations compared to whistlers. This indicates a preference for excitation of KAW fluctuations at smaller scales. The power spectrum in the perpendicular direction is calculated, and it shows similar indices as measured in the solar wind power spectrum in the transition (sub-ion) region. The power law extends to smaller scales when a higher ion-to-electron mass ratio is taken. The 2D magnetic power spectrum in magnetic field parallel and perpendicular directions shows typical anisotropy where the power spreads more in the perpendicular direction than in the parallel direction. This study shows that KAWs can explain features of the sub-ion range plasma turbulence in the solar wind.