A method for Beam Failure Recovery (BFR) performed by a User Equipment (UE) includes the UE receiving, from a Base Station (BS), a first configuration indicating a first Reference Signal (RS) associated with a first cell of the BS, determining whether a first beam failure event is detected on the first cell by assessing a first radio link quality based on the first RS, triggering a first BFR procedure for the first cell when the first beam failure event is detected on the first cell, and when the first BFR procedure is triggered and not cancelled, performing operations including: determining whether the UE is allocated with an Uplink (UL) resource that is available for transmitting a BFR report, where the UL resource is a Physical Uplink Shared Channel (PUSCH) resource, when the UE is allocated with the UL resource, generating, in response to the first BFR procedure, the BFR report, and transmitting, on the UL resource, the BFR report to the BS, and when the UE is not allocated with the UL resource, triggering, in response to the first BFR procedure, a Scheduling Request (SR) procedure for BFR.