Gesture is an attribute that should not be limited to the figure. Inanimate objects have gesture as well. I teach a couple fashion illustration courses for teens, yesterday I had them draw shoes. Using black acrylic and some white charcoal, emphasis was placed on capturing the gesture of the shoes. Fashion illustration is a perfect example of using a lot of gesture and expression, you have to give the objects (clothes, shoes, handbags, etc.) enough “personality” that they will appeal to the consumer. Introducing this type of personality via gesture into your drawings and paintings will help add that same type of appeal. A casually confident look, one that looks effortless. To acheive this, I draw with a large flat brush (the same one I paint with) and use black acrylic, barely thinned with a little water. Paper designed for acrylics or bristol board are excellent surfaces to work on. Keep your hand loose and just capture the basic shapes of the objects with as few strokes as possible. It takes a bit of practice to get the feeling, but is well worth the time put into it in terms of more confident looking drawings and paintings.