We analyze the coupling of two qubits via an epitaxial semiconducting junction. In particular, we consider three configurations that include pairs of transmons or gatemons as well as gatemon-like two qubits formed by an epitaxial four-terminal junction. These three configurations provide an electrical control of the interaction between the qubits by applying voltage to a metallic gate near the semiconductor junction and can be utilized to naturally realize a controlled-Z gate (CZ). We calculate the fidelity and timing for such CZ gate. We demonstrate that in the absence of decoherence, the CZ gate can be performed under $50 {rm ns}$ with gate error below $10^{-4}$.