In this research, two inflatable-winged Unmanned Aerial Vehicles (UAVs) in distinct configurations, a single-fuselage layout with external trailing-edge control surfaces and a twin-fuselage layout with fully movable control surfaces were designed, developed, and flight tested to investigate the flight characteristics of inflatable-winged aircraft. Initially, inflatable wings were designed and fabricated from various materials, followed by rigorous ground testing, including structural characteristics tests, pressure retention and resistance tests, and low-speed wind-tunnel evaluations. Following this, two methods for controlling the inflatable wings were proposed, and their roll control effectiveness was thoroughly investigated. Subsequently, two inflatable-winged UAV prototypes, each employing a different configuration and manipulation method, were designed, assembled, and subjected to basic low-altitude flight tests to assess the feasibility of their aerodynamic layouts and control characteristics. The results demonstrated that a segmented wing design with a multi-boom configuration is particularly well-suited for inflatable wings. Additionally, both proposed control methods were tested and shown to be effective in flight. The findings provide valuable insights into the properties of inflatable wings and offer substantial guidance for the development of inflatable-winged aircraft.