We fabricated reproducible high transparency superconducting contacts consisting of superconducting Ti/Al/Ti trilayers to gated single-wall carbon nanotubes. The reported semiconducting single-wall carbon nanotubes have normal state differential conductance up to 3e2/h and exhibit clear Fabry-Perot interference patterns in the bias spectroscopy plot. We observed subharmonic gap structure in the differential conductance and a distinct peak in the conductance at zero bias, which is interpreted as a manifestation of the supercurrent. The gate dependence of this supercurrent as well as the excess current are examined and compared to the coherent theory of superconducting quantum point contacts with good agreement.