We introduce a design principle of metasurfaces that can form any desired distribution of magnetic field for high-efficiency wireless power transfer centered at 200 kHz, which can be used to efficiently charge implanted medical devices. This metasurface can improve the power transfer efficiency for both single-user and multi-user cases by over tenfold compared to those without the metasurface. Our design enables a robust field distribution to the positions of the transmitting and receiving coils, as well as the geometric distortions of the metasurface itself, demonstrating feasibilities as a wearable device. With our design, the field distribution and subsequent power division among the multiple users can be readily controlled from equal distribution to any selective user(s). When incorporating a three-dimensional unit cell of the metasurface, we theoretically demonstrate an omnidirectional control of the field orientation to achieve a high-efficiency wireless power transfer for multiple users.