Other forms: gestures; gestured; gesturing
The thing to remember about gesture, whether you're using it as a verb or a noun, is that not only is it a movement of the hands or body, but it's also a movement that has some meaning, intention, or emotion behind it.
When you use gesture, you are entering into a whole history of human communication, because there is no language that exists entirely without gesture (a fun fact to bring up at parties). People can't communicate without gesture. It's so connected to intention that there is a phrase "empty gesture," used to mean an action or movement that is without genuine feeling.