In a method for a user equipment to transmit a sidelink signal in a wireless communication system, a first complex-valued modulation symbol associated with a sidelink control signal is mapped to a control resource included in a sidelink resource, at least one second complex-valued modulation symbol associated with a sidelink data signal is mapped to a data resource included in the sidelink resource, a preset value is mapped to a plurality of subcarriers included in the sidelink resource, the at least one first complex-valued modulation symbol, the at least one second complex-valued modulation symbol, and the preset value are orthogonal frequency division multiplexing (OFDM)-modulated to generate the sidelink control signal and the sidelink data signal, and the sidelink control signal and the sidelink data signal are transmitted.