Soft-switched wireless power transfer system combines the advantages of both wireless power transfer (WPT) and soft-switching technology. In WPT systems, high-frequency power electronic converters are crucial part for coupling/decoupling to transfer power from sending end to receiving end without any physical contact. Soft-switching of power electronic converters can mitigate conduction losses and increase the efficiency. This paper comprises of the technical review and advancements in the technological developments of soft-switched wireless power transfer systems. This work identifies and validates the trends and challenges related to soft-switched wireless power transfer system in the current scenario. This study establishes that reaping the benefits of this technology will need a few more years of research and development. Characterization of various methods and results found in literature for various application are discussed in detail, which provides an in-depth summary of soft-switched wireless power transfer design aspects.