High power ion cyclotron resonance heating is performed in a fast-flowing plasma operated with hydrogen and helium gases. Ion heating is clearly observed in hydrogen plasma as well as in helium plasma. The resonance region of magnetic field is broader and wave absorption efficiency is higher in hydrogen plasma than those in helium plasma. The thermal energy of the heated ions is converted to the kinetic energy of the exhaust plume by passing through a diverging magnetic nozzle set in a downstream region. In the magnetic nozzle energy conversion occurred as keeping the magnetic moment constant, but some discrepancy was observed in larger gradient of magnetic field. The kinetic energy of the exhaust plume is successfully controlled by an input power of radio-frequency wave, which is one of the key technologies for the Variable Specific Impulse Magnetoplasma Rocket (VASIMR) type plasma thruster.