This paper presents a numerical study of the wave loads acting on offshore structures using a Cartesian-grid-based flow simulation method. Finite volume discretization with a volume-of-fluid (VOF) method is adopted to solve two-phase Navier-Stokes equations. Among the many variations of the VOF method, the CICSAM scheme is applied. The body boundary conditions are satisfied using a porosity function, and wave generation is carried out by using transient (wave or damping) zone approaches. In order to validate the present numerical method, three different basic offshore structures, including a sphere, Pinkster barge, and Wigley model, are numerically investigated. First, diffraction and radiation problems are solved using the present numerical method. The wave exciting and drift forces from the diffraction problems are compared with potential-based solutions. The added mass and wave damping forces from the radiation problems are also compared with the potential results. Next, the wave-induced motion responses of the structures are calculated and compared with the existing experimental data. The comparison results are fairly good, showing the validity of the present numerical method.