Refraction represents one of the most fundamental operations that may be performed by a metasurface. However, simple phase-gradient metasurface designs suffer from restricted angular deflection due to spurious diffraction orders. It has been recently shown, using a circuit-based approach, that refraction without spurious diffraction, or diffraction-free, can fortunately be achieved by a transverse (or in-plane polarizable) metasurface exhibiting either loss-gain, nonreciprocity, or bianisotropy. Here, we re-derive these conditions using a medium-based-and hence, more insightful-approach based on generalized sheet transition conditions and surface susceptibility tensors, and experimentally demonstrate for the first time, beyond any doubt, two diffraction-free refractive metasurfaces that are essentially lossless, passive, bianisotropic, and reciprocal.