Let G, H be finite groups and let X be a finite G-set. G-perfect nonlinear functions from X to H have been studied in several papers. They have more interesting properties than perfect nonlinear functions from G itself to H. By introducing the concept of a (G, H)-related difference family of X, we obtain a characterization of G-perfect nonlinear functions on X. When G is abelian, we characterize a G-difference set of X by the Fourier transform on a normalized G-dual set X. We will also investigate the existence and constructions of G-perfect nonlinear functions and G-bent functions. Several known results in [2,6,10,17] are direct consequences of our results.