This paper considers energy delivery by a Hybrid Access Point (HAP) to one or more Radio Frequency (RF)-energy harvesting devices. Unlike prior works, it considers imperfect and causal Channel State Information (CSI), and probabilistic constraints that ensure devices receive their required amount of energy over a given planning horizon. To this end, it outlines two novel contributions. The first is a chance-constrained program, which is then solved using a Mixed Integer Linear Program (MILP) coupled with a Sample Average Approximation (SAA) method. The second is a Model Predictive Control (MPC) solution that utilizes Gaussian Mixture Model (GMM) and a so called backoff that is used to tighten probabilistic constraints. The results show that the performance of the MPC based solution is within 8% of the optimal solution with a probability of 90.8%.