Graphene exhibits unique electrical properties on account of its reduced dimensionality and "relativistic" band structure. When contacted with two superconducting electrodes, graphene can support Cooper pair transport, resulting in the well-known Josephson effect. We report here the fabrication and operation of a two junction dc superconducting quantum interference device (SQUID) formed by a single graphene sheet contacted with aluminum/palladium electrodes in the geometry of a loop. The supercurrent in this device can be modulated not only via an electrostatic gate but also by an applied magnetic fielda potentially powerful probe of electronic transport in graphene and an ultrasensitive platform for nanomagnetometry.