Odd-parity magnetism has attracted significant interest for its unconventional spin splitting. However, a concrete microscopic route for its realization remains elusive. In this work, we propose van der Waals heterostructures of stripe antiferromagnets (sAFMs) as an ideal platform for electrically controllable $p$-wave magnetism. In the sAFM/metal/sAFM structure, the leading Ruderman-Kittel-Kasuya-Yosida–type exchange interaction is canceled due to the symmetry of the stacking pattern. This exposes a higher-order biquadratic interaction as a dominant contribution that drives a filling-controlled transition from a collinear phase to an orthogonal $p$-wave configuration. The resulting $p$-wave phase exhibits a gate-tunable Edelstein response, which originates from magnetic symmetry breaking rather than conventional relativistic spin-momentum locking and remains robust even under substantial spin-orbit coupling. Finally, we propose material candidates for the realization of our theory. Our results establish van der Waals heterostructures as a practical platform for nonrelativistic spintronics with electric control of $p$-wave spin textures.

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• Magnetic order
• Magnetism
• van der Waals systems