Systems and techniques are provided for beamforming for wireless power transfer. A position of a second wireless power transfer device relative to a first wireless power transfer device may be determined. A beam may be simulated as being transmitted from the position of the second wireless power transfer device. Phases of a wave front of the simulated beam that would be received by elements of the first wireless power transfer device may be determined. A control signal for each of the elements for which phases were determined may be generated based on the determined phase of the wave front that would be received at the element. The control signal for each of the elements for which phases were determined may be supplied to the elements for which phases were determined. A waveform may be transmitted from the elements for which phases were determined based on the supplied control signal.