| Gold | Silver | Bronze | |
|---|---|---|---|
| 2017 Marstrand [1] | 
New ZealandPhil Robertson |
DenmarkJonas Warrer |
New Zealand Chris Steele |
| 2018 Chicago [2] | 
ChinaPhil Robertson |
United StatesRick DeVos |
NetherlandsPieter Taselaar |
| 2019 Riva del Garda [3] |
United States Don Wilson |
Netherlands Pieter Taselaar |
United States Jennifer Wilson |
| 2021 Miami [4] |
United States Don Wilson |
United States Anthony Kotoun & Joel Ronning |
SwedenRichard Goransson |
| 2022 Cascais [5] |
United States Don Wilson |
United States Dan Cheresh |
United States Larry Phillips |
|}
| Gold | Silver | Bronze | |
|---|---|---|---|
| 2017 Marstrand [1] |
New Zealand Phil Robertson |
Denmark Jonas Warrer |
New Zealand Chris Steele |
| 2018 Chicago [2] |
China Phil Robertson |
United States Rick DeVos |
Netherlands Pieter Taselaar |
| 2019 Riva del Garda [3] |
United States Don Wilson |
Netherlands Pieter Taselaar |
United States Jennifer Wilson |
| 2021 Miami [4] |
United States Don Wilson |
United States Anthony Kotoun & Joel Ronning |
Sweden Richard Goransson |
| 2022 Cascais [5] |
United States Don Wilson |
United States Dan Cheresh |
United States Larry Phillips |
|}