Fully gapped spin-triplet superconductors offer a natural setting for topological edge transport and Majorana excitations. Here we propose a heterostructure that interfaces altermagnetic monolayer V₂Se₂O with a conventional s-wave superconductor. Starting from an ab-initio description of V₂Se₂O, we construct a low-energy model of its spin-split Fermi surface and study the superconducting instability of the coupled stack. We find that the momentum-dependent exchange splitting of the altermagnet strongly favors equal-spin pairing and converts the proximity-induced order into a fully gapped p-wave state. Over a broad range of interface parameters, the resulting Bogoliubov-de Gennes bands carry a nonzero Chern number, and slab spectra exhibit chiral Majorana edge modes traversing the bulk gap. We further quantify the inverse proximity effect and show how the induced gap evolves across a finite multilayer stack. These results establish a route to topological triplet superconductivity by interfacing a conventional superconductor with an experimentally available altermagnetic semiconductor, and provide practical guidance for interface fabrication and experimental detection.