This paper presents a control technique for flying capacitor multi-level (FCML) converters to achieve zero-voltage switching (ZVS) across the full range of duty cycles, with application in high power density and high efficiency power converters. Previous works have used variable frequency control to enable ZVS at specific duty cycles in FCML converters, but have not been able to use these methods to allow ZVS across the full range. This work uses dynamic level selection and variable frequency control to increase inductor current ripple at duty cycle ranges for which ZVS was previously unattainable. An experimental 5-level FCML prototype has been built using GaN devices on a single-sided PCB to demonstrate this control technique. We demonstrate 4-level and 5-level operation with ZVS at duty cycles that are not possible with 5-level operation alone, as well as a dynamic level transition with active capacitor voltage balancing.