The sign languages of deaf communities and the gestures produced by hearing people are communicative systems that exploit the manual-visual modality as means of expression. Despite their striking differences they share the property of iconicity, understood as the direct relationship between a symbol and its referent. Here we investigate whether non-signing hearing adults exploit their implicit knowledge of gestures to bootstrap accurate understanding of the meaning of iconic signs they have never seen before. In Study 1 we show that for some concepts gestures exhibit systematic forms across participants, and share different degrees of form overlap with the signs for the same concepts (full, partial, and no overlap). In Study 2 we found that signs with stronger resemblance with signs are more accurately guessed and are assigned higher iconicity ratings by non-signers than signs with low overlap. In addition, when more people produced a systematic gesture resembling a sign, they assigned higher iconicity ratings to that sign. Furthermore, participants had a bias to assume that signs represent actions and not objects. The similarities between some signs and gestures could be explained by deaf signers and hearing gesturers sharing a conceptual substrate that is rooted in our embodied experiences with the world. The finding that gestural knowledge can ease the interpretation of the meaning of novel signs and predicts iconicity ratings is in line with embodied accounts of cognition and the influence of prior knowledge to acquire new schemas. Through these mechanisms we propose that iconic gestures that overlap in form with signs may serve as some type of ‘manual cognates’ that help non-signing adults to break into a new language at first exposure.