Due to the explosive growth in the density of wireless network services, applications, and technologies, optimal power consumption and radio resource management with interference mitigation can be emerged as a critical issues for future fifth-generation (5G) heterogeneous networks (HetNets). Millimeter Wave (mm-wave) technology with small cells implemented in heterogeneous 5G networks is deployed as a practical solution to deal with diverse network infrastructures, massively linked devices, and services with multi-gigabit access data rates. In this paper, we propose a jointly optimal power and concurrent radio resource transmission schedule for radio access, backhaul (BH) and Device to Device (D2D) communication links in heterogeneous 5G mmWave networks. Furthermore, for both Line Of Sight (LOS) and Non Line Of Sight (NLOS) transmission, the scheme allows different interfering and non-interfering links to transmit concurrently. Finally, Comprehensive simulations demonstrate that the proposed scheme can achieves significant improvement in terms of radio resources utilization and average user throughput