Large scale quantum computing motivates the invention of two-qubit gate schemes that not only maximize the gate fidelity but also draw minimal resources. In the case of superconducting 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 offresonant 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.