A new design approach is presented in this paper to show that under certain conditions, in a two-coil wireless power transfer system, the double-sided inductor-capacitor-capacitor (LCC) compensated wireless power transfer (LCC-WPT) system can be more energy efficient than the series-series (SS) compensated wireless power transfer (SS-WPT) system for the same load power, with special attention being paid to the effect that the parasitic coil and capacitor resistances have on the system efficiency. To make a fair comparison between the SS and LCC WPT systems, the direct current (DC) link voltage was adjusted to set equal load power for the two systems whilst using identical transmit and receive coils, coil-to-coil distance and load resistance. The system performance in terms of the system efficiency, the voltage stresses on the components, and the losses in the power devices were analysed for a practical system, comparing the LCC-WPT system and the SS-WPT system with respect to the load resistance. The effect of coil misalignment on the transferred power and efficiency for the two systems was compared. The theoretical proof and the conditions for meeting the objective are derived and practically verified in a two-coil WPT practical prototype, showing good agreement between analysis and experiments.