Air carrier First Officer reported a conflict during the takeoff roll with an airborne aircraft; landing on an intersecting runway; at SFO airport. The flight continued the takeoff and the conflicting landing aircraft was issued a go-around by ATC to maintain separation.

Narrative

At SFO; we were cleared for takeoff on [Runway] 01L full-length takeoff. The takeoff clearance included extra information about an aircraft taxiing at the far end of 01L to the FBO ramp and Aircraft Y heavy on two-mile final to [Runway] 28R. Both pilots observed a business jet had just crossed the far end of 01L and was clear. The actual takeoff clearance:'Aircraft X; traffic will be on a two-mile final; once traffic clears your runway; traffic holding in position on 28; Runway 01L; cleared for takeoff.'Since this clearance seemed to imply our takeoff was to be after the taxiing aircraft; and we saw that plane had already crossed 01L; I read back:'Understand at this time cleared for takeoff 01L; Aircraft X.'Tower did not respond to my readback. Pilot Flying (PF) proceeded to set takeoff power and accelerate. I observed Aircraft Y heavy on final to 28R; and although it was close; it did not strike me as out of the ordinary for normal SFO operations. As our aircraft approached the crossing 28 intersections at around 100 knots; Tower directed Aircraft Y to go around. We continued with a normal takeoff; and Tower did not talk to us except to direct the switch to NorCal Approach.Once we reached cruise phase; we discussed the takeoff at length. We both agreed that we did not delay our takeoff roll; and that SFO Tower's instruction was longer than usual and confusing due to the inclusion of 'once traffic clears your runway;' but only resulted in approximately 3-4 extra seconds before our takeoff roll began. One of the most frustrating aspects of this event is that SFO was not particularly busy at this time. We had a six-minute delay at the 01L hold short due to [traffic] flow; and while holding there was not a single other departure from 01L (there were a couple parallel departures on 01R). This begs the question of why the need for such closely spaced departures and arrivals. I do not feel the risk of such close spacing; and the resulting tower-directed go-around of a heavy; was worth the time gained.