The recent developments in electric vehicle (EV) necessities the requirement of a human intervention free charging system for safe and reliable operation. Wireless power transfer (WPT) technology shows promising options to automate the charging process with user convenience. However, the operation of the WPT system is designed to operate at a high-frequency (HF) range, which requires proper control and modulation technique to improve the performance of power electronic modules. This paper proposes a dead-time (DT) integrated Pulse Density Modulation (PDM) technique to provide better control with minimal voltage and current ripples at the switches. The proposed technique is investigated using a LCC-LCL compensated WPT system, which predominantly affects the high-frequency voltage and current ripples. The performance analysis is studied at different density conditions to explore the impact of the integrated PDM approach. Moreover, the PDM technique gives better control over the power transfer at different levels of load requirement. The simulation and experimental analysis was performed for a 3.7 kW WPT prototype test system under different modes of operation of the high-frequency power converters. Both the simulated and experimental results demonstrate that the proposed PDM technique effectively enhances the efficiency of the HF inverter while significantly reducing output current ripples, power dissipation and improving the overall WPT system efficiency to 92%, and leading to a reduction in the power loss in the range of 10% to 20%. This leads to improved overall system control and performance.