In this paper, a high-efficiency wireless power transfer (WPT) and force transfer system for a micro-robot is proposed. Two-coil systems are employed to power the micro-robot. The two-coil parts are ac and dc, and each consists of an external source and a load coil inside the micro-robot. In the ac coil part, the external source coil generates a time-varying magnetic field that is received by the ac load coil in the micro-robot as electrical energy. In the dc coil part, the external source coil is used as an electromagnet, which is used to generate propulsion force for the micro-robot. Through the proposed system, both the efficiency of electrical energy transfer and the generation of propulsion force can be significantly improved. The feasibility of the proposed approach was verified through simulation and experimentation results.