The dual active bridge (DAB) is a dc/dc converter frequently employed in multiple applications due to its advantages of isolation, power flexibility, and input and output voltage defined by design. Different multi-phase modulations have been reported to increase DAB efficiency and reduce components stress but, certainly, the control and implementation complexity increases with every displacement angle added because of the multiple variable measurements. This paper presents two-stage modulations based on the single phase-shift (SPS), which allows maintaining simplicity while improving the efficiency of the DAB converter depending on the design conditions. The paper also gives a direction for selecting the proper modulation to achieve the best efficiency for each situation. The different two-stage modulations are described, analyzed, and experimentally tested.