A wireless power transmission apparatus for wirelessly transmitting power to a wireless power reception apparatus is provided. The wireless power transmission apparatus includes a power transmitting circuit including a coil and at least one processor to control to transmit, via the power transmitting circuit, a pilot power with changing a frequency of the pilot power within a predetermined frequency range, obtain a magnitude of power wirelessly transmitted to a wireless power reception apparatus based on the transmitted pilot power, determine an operating frequency based on the obtained magnitude, and control to transmit, via the power transmitting circuit, a driving power having the operating frequency to drive the wireless power reception apparatus.