Wireless charging is widely considered a safe and reliable way for powering biomedical implants, as it avoids problems like surgical infection. Wireless power transfer (WPT) systems are desired to work efficiently against variations in coil–coil distance or output load. On the other hand, to maintain the maximum overall efficiency of the WPT system, the high frequency (HF) power amplifier, used to feed the WPT system, must operate at optimal zero-voltage switching (ZVS) conditions. In this paper, an automated dual-objective control strategy adaptive to variations in coil–coil distance or output load is proposed which ensures both targets of tracking maximum power point and operating at optimal ZVS condition by adjusting operating frequency and duty-cycle of switching voltage of HF power amplifier, respectively; that is while there have been few studies which have addressed both the two targets. To evaluate the effectiveness of the proposed strategy, a PCB prototype, operating at 800 kHz, is fabricated. Experimental results, demonstrating the proposed strategy increases transferred power from 23 mW to about 45 mW, are in good agreement with theoretical predictions. Additionally, while implanting the receiver coil in real biological tissue, experiments show only 2% of degradation in power transfer efficiency as well as no frequency shift.