Propagation character of spin wave was investigated for chiral magnets FeGe and Co-Zn-Mn alloys, which can host magnetic skyrmions near room temperature. On the basis of the frequency shift between counter-propagating spin waves, the magnitude and sign of Dzyaloshinskii-Moriya (DM) interaction were directly evaluated. The obtained magnetic parameters quantitatively account for the size and helicity of skyrmions as well as their materials variation, proving that the DM interaction plays a decisive role in the skyrmion formation in this class of room-temperature chiral magnets. The propagating spin-wave spectroscopy can thus be an efficient tool to study DM interaction in bulk single-phase compounds. Our results also demonstrate a function of spin-wave diode based on chiral crystal structures at room temperature.