Until now, I have developped all my applications with the CAN Frame API vis. As far as I know, it is not possible to do that with these vis.
But a quick overview of the new CAN Channel API vis gives new hope to solve this problem !
From the help for several vis (CAN Init Start, Create message...) :
Output Recent
Output channel data to CAN messages for transmit. This mode is used with sample rate greater than zero (periodic transmit). Use CAN Write.vi to provide a single sample per channel. Each periodic message uses the sample values from the most recent CAN Write.vi.
Unfortunately I have no time to test this right now and therefore I can only hope that this answer will lead you to a solution.