Abstract-Wireless transmission relying on lens antenna arrays is becoming more and more attractive for millimeter wave (mmWave) multiple-input multiple-output (MIMO) systems using a limited number of radio frequency (RF) chains due to the lens' energy-focusing capability. In this paper, we consider the joint design of the beam selection and precoding matrices in order to maximize the sum-rate of a downlink single-sided lens MU-MIMO mmWave system under transmit power constraints. We first formulate the optimization problem into a tractable form using the popular weighted minimum mean squared error (WMMSE) approach. To solve this problem, we then propose an efficient joint beam selection and precoding design algorithm based on the innovative penalty dual decomposition (PDD) method. To reduce the design complexity, we also propose a simplified algorithm by combining the interference-aware beam selection (IA-BS) scheme with the WMMSE approach. Simulation results demonstrate that our proposed algorithms can converge in a few iterations and achieve near-optimal performance when compared to the fully digital precoding scheme, thus enabling them to outperform the competing methods.