the cross-resonance interaction to implement a gate between two superconducting transmon qubits with a direct static dispersive coupling. We demonstrate a practical calibration procedure for the optimization of the gate, combining continuous and repeated-gate Hamiltonian tomography with step-wise reduction of dominant two-qubit coherent errors through mapping to microwave control parameters. We show experimentally that this procedure can enable a ZX^−π/2 gate with a fidelity F=97.0(7)%, measured with interleaved randomized benchmarking. We show this in a architecture with out-of-plane control and readout that is readily extensible to larger scale quantum circuits.