In this study, a humanoid whole-body remote-control framework with a delayed reference generator for imitating human motion is proposed. The framework comprises two main parts: delayed reference generator and optimization-based whole-body inverse kinematics (WBIK). In the delayed reference generator, a variable time delay is applied to the human motion according to the condition for imitating human motion, so that the robot can sequentially imitate the human motion that cannot be followed stably. In the optimization-based WBIK, the optimal joint angles of the robot are determined by using quadratic programming to satisfy the motion constraints, such as joint limits, self-collision, and balance stability while following the reference motion of the robot. Experiments using the data device and humanoid platform HUBO2+ demonstrate that the robot follows all the human motions using the proposed framework. Additionally, it is confirmed that it is possible to perform accurate positioning and manipulation using the robot.