  We describe the generation of entangling gates on
superconductor-semiconductor hybrid qubits by ac voltage modulation of the
Josephson energy. Our numerical simulations demonstrate that the unitary error
can be below $10^{-5}$ in a variety of 75-ns-long two-qubit gates (CZ, $i$SWAP,
and $\sqrt{i\mathrm{SWAP}}$) implemented using parametric resonance. We analyze
the conditional ZZ phase and demonstrate that the CZ gate needs no further
phase correction steps, while the ZZ phase error in SWAP-type gates can be
compensated by choosing pulse parameters. With decoherence considered, we
estimate that qubit relaxation time needs to exceed $70\mu\mathrm{s}$ to
achieve the 99.9% fidelity threshold.
