The use of spin waves as information carriers in spintronic devices can substantially reduce energy losses by eliminating the ohmic heating associated with electron transport. Yet, the excitation of short-wavelength spin waves in nanoscale magnetic systems remains a significant challenge. Here, we propose a method for their coherent generation in a heterostructure composed of antiferromagnetically coupled magnetic layers. The driven dynamics of naturally formed nanosized stacked pairs of magnetic vortex cores is used to achieve this aim. The resulting spin-wave propagation is directly imaged by time-resolved scanning transmission X-ray microscopy. We show that the dipole-exchange spin waves excited in this system have a linear, non-reciprocal dispersion and that their wavelength can be tuned by changing the driving frequency.