An apparatus and method are provided for transmitting and receiving power for wireless power transmission. A power transmitting apparatus includes a power supplier for generating power; a resonator for transmitting the power generated by the power supplier to a plurality of power receiving apparatuses; and a controller for determining whether a power transmission to a new power receiving apparatus is possible using a power receiving apparatus management table, when the new power receiving apparatus is detected while the power transmissions of the plurality of power receiving apparatuses are being performed, and controlling the resonator to transmit power to the new power receiving apparatus, when the power transmission to the new receiving apparatus is possible. The power transmitting apparatus stably supplies power to a plurality of power receiving apparatuses by determining power transmission states of the plurality of power receiving apparatuses.