Unable to connect Android ADB over TCP/IP

I tried to connect to my phone through WiFi using Android ADB, but I can't connect it.

I tried this steps:

adb kill-server  
adb tcpip 5555  
adb connect 192.168.1.16:5555

And got this message:

cannot connect to 192.168.1.16:5555: A connection attempt failed because the connected party did not properly respond after a period of time, or established connection failed because connected host has failed to respond. (10060)

Check the following:

1. Your laptop and android device should be connected to the same Wifi network
2. You have USB driver installed. Details here: https://docs.microsoft.com/en-us/xamarin/android/get-started/installation/set-up-device-for-development