We present a fully pseudo-spectral scheme to solve axisymmetric hyperbolic equations of second order. With the Chebyshev polynomials as basis functions, the numerical grid is based on the Lobbato (for two spatial directions) and Radau (for the time direction) collocation points. The method solves two issues of previous algorithms which were restricted to one spatial dimension, namely, (i) the inversion of a dense matrix and (ii) the acquisition of a sufficiently good initial-guess for non-linear systems of equations. For the first issue, we use the iterative bi-conjugate gradient stabilized method, which we equip with a pre-conditioner based on a singly diagonally implicit Runge-Kutta ("SDIRK"-) method. The SDIRK-method also supplies the code with a good initial-guess. The numerical solutions are correct up to machine precision and we do not observe any restriction concerning the time step in comparison with the spatial resolution. As an application, we solve general-relativistic wave equations on a black-hole space-time in so-called hyperboloidal slices and reproduce some recent results available in the literature.