This paper studies a novel training-free energy beam focusing approach for a near-field wireless power transfer (WPT) system with extremely large-scale antenna array (ELAA). In particular, we focus on the setup with one access point (AP) equipped with an extremely large-scale uniform planar array (UPA) serving multiple single-antenna energy receivers (ERs), in which the line-of-sight (LoS) dominated wireless channels are dependent on the relative positions of ERs and exhibit spatial non-stationarity. Different from conventional designs relying on training and feedback, we present a novel energy beam focusing design assisted by wireless radar sensing based on a two-stage transmission protocol. In the first stage, the AP performs wireless radar sensing to identify the ERs' visibility regions (VRs) and estimate their three-dimension (3D) positions for constructing the corresponding channel state information (CSI). In the second stage, the AP implements the transmit energy beam focusing based on the constructed CSI to efficiently charge these ERs. Under this setup, we first minimize the sensing duration in the first stage, while guaranteeing a specific accuracy threshold for position estimation. Next, we optimize the energy beamformers at the AP in the second stage to maximize the weighted harvested energy among all ERs subject to the maximum transmit power constraint. In this approach, the time resource allocation between the two stages is properly designed to optimize the ultimate energy transfer performance. Numerical results show that the proposed design performs close to the performance upper bound with perfect VR and CSI and significantly outperforms other benchmark schemes.