Electromagnetic ultrasonic (EMU) Lamb waves excited by electromagnetic acoustic transducers (EMATs) possess many advantages in NDT. However, their characteristic multi-modes and dispersion are disadvantageous for inspection and restrict further improvements in their real applications. By deducing the excitation equation of EMU Lamb waves, the primary design parameters of EMATs and the characteristic equation of Lamb waves are combined, and excitation curves based on the excitation equation are plotted to aid the design of EMATs. The excitation characteristic of EMU Lamb waves on different thickness of plates is analyzed according to the excitation curves. The influence of multi-modes of EMU Lamb waves is minimized by choosing reasonable operating points and operating zones to excite a single-mode Lamb wave or multi-mode Lamb waves with identical or approximate propagation velocities. The influence of dispersion is minimized by searching corresponding points whose slope of group velocity tends to zero. The validity of the proposed method is verified by experiments.