In this paper, a new Modular differential-mode Class-D Power Amplifier (PA) is analyzed and designed for Inductive Power Transfer (IPT) systems that are compatible with the A4WP standard. Multiple receivers IPT systems need more power, especially with integrating more receivers, and an ultra-wide range of power processing. The modular structure of the proposed PA offers flexibility, higher reliability, and inherent power scalability. The transmitted power range can be optimized and scaled to any power level making the PA design effectively suitable for multiple receivers’ IPT systems. Also, independent control for Class-D PA is proposed to increase efficiency and enhance overall performance. The proposed control has a feature of disabling needless legs in low power range which happened at activating a low number of utilized receivers. GaN power transistors are used in the proposed modular PA to enhance the performance at high frequency and provide high efficiency while achieving zero voltage switching (ZVS) operation. Detailed mathematical analysis along with simulation results are provided to validate the performance features of the proposed modular PA.