We study the electronic properties of a planar semiconductor-superconductor heterostructure, in which a thin ferromagnetic insulator layer lies in between and acts as a spin filtering barrier. We find that in such a system one can simultaneously enhance the strengths of all the three important induced physical quantities, i.e., Rashba spin-orbit coupling, exchange coupling, and superconducting pairing potential, for the hybrid mode by external gating. Our results show specific advantage of this stacked device geometry compared to conventional devices. We further discuss how to optimize geometrical parameters for the heterostructure and complement our numerical simulations with analytic calculations.