Inductively coupled power transfer (ICPT) is a technology that is capable of providing power to a diverse range of underwater sensors. However, the existence of different power levels and different types of sensors gives rise to new challenges for multi-receiver ICPT systems. This paper proposes a multi-frequency and multi-receiver power transfer system utilising mooring cables for independent power transfer to multiple sensors with varying power requirements. Firstly, a comprehensive modelling analysis of the three- receiver mooring cable system is conducted, employing a circuit model. Secondly, a resonance compensation network is designed for the three-frequency system, with the objective of decoupling the power channels. Ultimately, a single inverter is employed to generate multi-frequency currents, with the load power being independently regulated through the adjustment of the input voltage modulation ratio of the inverter. The results demonstrate that the proposed system is capable of simultaneously charging and distributing power to multiple sensors with varying power requirements.