This work presents the theoretical and numerical design of a novel radiative near-field wireless power transfer (WPT) system at millimeter waves (mm-waves), based on one TX and one RX resonant Bessel-beam launcher, with the aim of providing superior performance in terms of energy focusing capabilities. To evaluate the achievable rectified power, for several TX-RX distances, the wireless link is accurately and efficiently accounted for, by combining the EM analysis of the launchers with EM theory. A single-diode rectifier is designed to operate at 37.5 GHz: for a received power of 0dBm the expected rectifier efficiency exceeds 30%. Radiative near-field wireless power transfer (WPT) promises several benefits over both nonradiative near-field and radiative far-field wireless links. The compact size of the proposed system makes it particularly attractive for future mm-wave wearable WPT systems.