Classical control method for wireless power transfer (WPT) system is based on the PI controller and phase-shifting modulator (PI+PSM) However, the poor dynamic performance and hard switching arise in PI+PSM method. To solve these two issues, a novel control method has been proposed. In proposed method, the finite-control-set model predictive control (FCS-MPC) cooperates with pulse density modulation (PDM) for two-side converters of WPT system to have fast dynamic response and dual-side soft switching. Simultaneously, the maximum efficiency point tracking (MEPT) is achieved in proposed method to obtain a high efficiency. Finally, the proposed method is tested in simulation and compares with PI+PSM method on a series-series-compensation-based WPT system.