Single-ended resonant converters such as Class-E inverters have been widely considered as a potential topology for small- and medium-power wireless power transfer (WPT) applications, which feature compact circuits, low switching losses, and cost benefits, as they only use a low-side switch with a simple gate driver. However, there remains a practical challenge in the design of voltage stress, efficiency, and power density. In this paper, a single-ended resonant converter with a primary parallel resonant-matching network is investigated to absorb the bulky input-choke inductors of the Class-E inverters into the coil inductance. The analytical expressions for all the converter parameters are derived based on time-domain resonant waveforms, including: (1) analysis of critical zero-voltage switching (ZVS) conditions and (2) power transfer capabilities under the given maximum switch voltage stress. Furthermore, this paper elaborates on the design methodology of the proposed single-ended resonant converters, and an optimal operating point is chosen to ensure soft-switching operation and rated power. Finally, the accuracy of the proposed model is verified by simulation and experimental results.