This paper focuses on a systematical and in-depth analysis of the reactive power and soft-switching regions of Dual Active Bridge (DAB) converters with dual-phase-shift (DPS) control to achieve high efficiency in a wide operating range. The key features of the DPS operating modes are characterized and verified by analytical calculation and experimental tests. The mathematical expressions of the reactive power are derived and the reductions of the reactive power are illustrated with respect to a wide range of output power and voltage conversion ratios. The ZVS soft-switching boundary of the DPS is presented and one more leg with ZVS capability is achieved compared with the CPS control. With the selection of the optimal operating mode, the optimal phase-shift pair is determined by performance indices, which include the minimum peak or rms inductor current. All of the theoretical analysis and optimizations are verified by experimental tests. The experimental results with the DPS demonstrate the efficiency improvement for different load conditions and voltage conversion ratios.