This paper presents the modeling, implementation, and testing of a cross-type receiver (RX) used for wireless power transfer (WPT) into an endoscopic capsule. A 3-D configuration for the receiver is proposed to increase the wireless link power transfer efficiency (WL-PTE) and enhance its robustness to angular variations of the capsule. The diameter and thickness of the flexible transmitter coils are 200 mm and $185~\mu \text{m}$ , respectively. The diameter of the miniaturized RX is 8 mm, which is appropriate for integration within current commercially available capsules. Experimental results demonstrate a WL-PTE of 1.3% and complete system efficiency of 0.9% inside a suitable tissue phantom of the relative permittivity of 300 at 5 MHz. A maximum variation of only 8.4% of the WL-PTE across 90° orientation of the RX was also measured. The minimum WL-PTE of 1% is the recorder for 7-cm translational displacement inside the phantom. A simulated specific absorption rate of 0.86 W/Kg was calculated, which is well below the limit allowed for medical applications. A maximum temperature variation of 2.2 °C was also measured for an operating duration of 10 h, which is typical of a capsule journey inside the gastrointestinal tract. The proposed system represents a viable proposition for WPT in capsule endoscopy.