What you are after will never work with identity columns.
They are designed to "give out" and forget, by-design so that they don't cause waits or deadlocks etc. The property allows IDENTITY columns to be used as a sequence within a highly transactional system with no delay or bottlenecks.
To make sure that there are no gaps means that there is NO WAY to implement a 100-insert per second system because there would be a very long queue to figure out if the 1st insert was going to be rolled back.
For the same reason, you normally do not want this behaviour, nor such a number sequence for a high volume table. However, for very infrequent, single-process tables (such as invoice number by a single process monthly), it is acceptable to put a transaction around a MAX(number)+1
or similar query, e.g.
declare @next int
update sequence_for_tbl set @next=next=next+1
.. use @next