Dispersion relations of longitudinal and transverse waves in two-dimensional (2D) screened-Coulomb crystals were investigated. The waves were excited in 2D crystals made from complex plasmas, i.e., dusty plasmas, by applying radiation pressure of laser light. The dependencies of the dispersion relation on the shielding parameter, the damping rate, and the wave propagation direction were experimentally measured. The measured dispersion relations agree reasonably with a recently developed theory, and the comparison yields the shielding parameter and the charge on particles.