We present an accurate interpolating method for calculating electric and magnetic fields at the seafloor with a resistivity contrast. This method is applied to the three-dimensional (3D) frequency-domain marine controlled-source electromagnetic (CSEM) modeling with the towed transmitters and receivers located at the seafloor. We simulate the 3D marine CSEM responses by the staggered finite-difference method with a direct solver. The secondary-field approach is used for avoiding the source singularities and the primary fields excited by the electric dipole source could be calculated quasi-analytically for the one-dimensional layered background. Therefore, in this study, we focus on interpolating of electric and magnetic fields to the receiver locations at the seafloor interface between the conductive seawater and resistive seafloor formation. Considering the discontinuity of the normal electric fields, we use the normal current electric density for interpolation. The secondary electric and magnetic fields are also used for interpolation instead of the total fields for high numerical accuracy. The proposed interpolation only utilizes the nodes below/above the seafloor interface and is approved to be much more accurate than other tested interpolating methods, i.e., the conventional linear interpolation and the rigorous interpolation.