We present a general method to quickly generate high-fidelity control pulses for any continuously-parameterized set of quantum gates after calibrating a small number of reference pulses. We pick several reference operations in the gate family of interest and directly optimize pulses that implement these operations, then iteratively re-optimize the pulses to guide their shapes to be similar for operations that are closely related. A straightforward interpolation method can then obtain high-fidelity pulses for arbitrary operations in the continuous set. We demonstrate this procedure on the three-parameter Cartan decomposition of two-qubit gates to obtain control pulses for any two-qubit gate, up to single-qubit operations, with consistently high fidelity. The method generalizes to any number of gate parameters and can be used with any pulse optimization algorithm.