In continuous-variable quantum computing with qubits encoded in the infinite-dimensional Hilbert space of bosonic modes, it is a difficult task to realize strong and on-demand interactions between the qubits. One option is to engineer a beamsplitter interaction for photons in two superconducting cavities by driving an intermediate superconducting circuit with two continuous-wave drives, as demonstrated in a recent experiment [Gao et al., Phys. Rev. X 8, 021073 (2018)]. Here we show how quantum optimal control theory (OCT) can be used in a systematic way to improve the beamsplitter interaction between the two cavities. We find that replacing the two-tone protocol by a three-tone protocol accelerates the effective beamsplitter rate between the two cavities. The third tone's amplitude and frequency are determined by gradient-free optimization and make use of cavity-transmon sideband couplings. We show how to further improve the three-tone protocol via gradient-based optimization while keeping the optimized drives experimentally feasible. Our work exemplifies how to use OCT to systematically improve practical protocols in quantum information applications.