A superconductor with $p_x+ip_y$ order has long fascinated the physics community because vortex defects in such a system host Majorana zero modes. Here we propose a simple construction of a chiral superconductor using proximitized quantum wires and twist angle engineering as basic ingredients. We show that a weakly coupled parallel array of such wires forms a gapless $p$-wave superconductor. Two such arrays, stacked on top of one another with a twist angle close to $90^circ$, spontaneously break time reversal symmetry and form a robust, fully gapped $p_x+ip_y$ superconductor. We map out topological phases of the proposed system, demonstrate existence of Majorana zero modes in vortices, and discuss prospects for experimental realization.