shift of a qubit depending on the state of neighboring qubits, is one of the major obstacles to integrating fixed-frequency transmon qubits. Here we propose and experimentally demonstrate ZZ-interaction-free single-qubit-gate operations on a superconducting transmon qubit by utilizing a semi-analytically optimized pulse based on a perturbative analysis. The gate is designed to be robust against slow qubit-frequency fluctuations. The robustness of the optimized gate spans a few MHz, which is sufficient for suppressing the adverse effects of the ZZ interaction. Our result paves the way for an efficient approach to overcoming the issue of ZZ interaction without any additional hardware overhead.