A bidirectional CLLC resonant converter (CLLC-BRC) based on GaN transistors is analyzed and designed in this paper. Similar resonant topologies are listed and commented on, with the CLLC topology showing competitiveness in bidirectional energy transmission. The analysis of the aforementioned converter has been provided, including the reveal of resonant frequencies of the CLLC topology and an improved zero-voltage switching (ZVS) condition with operation principles of the reverse mode and relevant parasitic parameters taken into account. The design methodology of the aforementioned converter based on pulse frequency modulation (PFM) is further discussed in detail. A prototype with a rated power of 400 W and a maximal operating frequency that is larger than 0.5 MHz was built to verify the proposed design methodology. The highest conversion efficiency of the prototype was 97.02% in the forward mode, and it was 95.96% in the reverse mode.