qubits, the weak anharmonicity of transmons imposes profound constraints on the gate design, leading to increased complexity of devices and control protocols. Here we demonstrate a resource-efficient control over the interaction of strongly-anharmonic fluxonium qubits. Namely, applying an off-resonant drive to non-computational transitions in a pair of capacitively-coupled fluxoniums induces a ZZ-interaction due to unequal ac-Stark shifts of the computational levels. With a continuous choice of frequency and amplitude, the drive can either cancel the static ZZ-term or increase it by an order of magnitude to enable a controlled-phase (CP) gate with an arbitrary programmed phase shift. The cross-entropy benchmarking of these non-Clifford operations yields a sub 1% error, limited solely by incoherent processes. Our result demonstrates the advantages of strongly-anharmonic circuits over transmons in designing the next generation of quantum processors.