Wireless power transfer provides a most convenient solution to charge devices remotely and without contacts. R&D has advanced the capabilities, variety, and maturity of solutions greatly in recent years. This survey provides a comprehensive overview of the state of the art on different technological concepts, including electromagnetic coupled and uncoupled systems and acoustic technologies. Solutions to transfer mW to MW of power, over distances ranging from millimeters to kilometers, and exploiting wave concepts from kHz to THz, are covered. It is an attractive charging option for many existing applications and moreover opens new opportunities. Various technologies are proposed to provide wireless power to these devices. The main challenges reside in the efficiency and range of the transfer. We highlight innovation in beamforming and UV-assisted approaches. Of particular interest for designers is the discussion of implementation and operational aspects, standards, and safety relating to regulations. A high-level catalog of potential applications maps these to adequate technological options for wireless power transfer.