Quantum communication as well as integrated photonic circuits require single photons propagating in a well-defined Gaussian mode. However, tailoring the emission mode to a Gaussian remains an unsolved challenge for solid-state quantum emitters due to their random positioning in the host material or photonic structure. Here, we overcome these limitations by embedding a semiconductor quantum dot in a tapered nanowire waveguide. Owing to the deterministic positioning of the emitter in the waveguide, we demonstrate a Gaussian emission profile in the far field. Hence, we further couple the emission into a single-mode optical fiber with a record efficiency of 93%, thereby addressing a major hurdle for practical implementation of single photon sources in emerging photonic technologies.