There is provided a wireless power transmitting device including a transmission coil configured to transmit a wireless power signal to a wireless power receiving device; a driving driver configured to generate a wireless power driving signal which is a driving signal for the wireless power signal; an alternating current sensor configured to detect an alternating current signal of the transmission coil which is generated by a wireless power receiving signal including wireless power receiving information of a wireless power receiving device; an alternating voltage sensor configured to detect an alternating voltage signal of the transmission coil, the alternating current signal being generated by the wireless power receiving signal from the wireless power receiving device; a signal processing unit configured to process the alternating current signal and the alternating voltage signal from the alternating current sensor and the alternating voltage sensor; and a wireless power transmitting controller that, when the alternating current signal and the alternating voltage signal of the transmission coil are detected and signal processing is normally performed on at least one of the alternating current signal and the alternating voltage signal, obtains the wireless power receiving information through the signal on which the signal processing is performed and controls the driving driver on the basis of the wireless power receiving information. Further, there is provided a method for controlling to transmit a wireless power signal in the wireless power transmitting device.