Hello Moonless :), I've used [Nicolaides - The Natural Way to Draw] and he has pretty cool exercises around Gesture. Personally I've always kind of felt that gesture is a bit more of a personal thing, with less learning from others in contrary of all the others fundamentals. It's letting out your emotions raw on the paper. I've seen some people doing very squiggly stuff and others with very economical lines, both were really cool. For me it's kind of letting fundamental and emotions connect has you make it so quickly you cant think much. I prefer exploring it myself and find my own shortcuts and expressive lines. It's simply my own opinion though and that said, it sure can't hurt to read some stuff on it ! Hope this helped you in any kind of way :)

For figure and gesture drawing, I recommend "Figure Drawing For All It's Worth" By Andrew Loomis. I'm pretty sure you can find it at Barnes and Noble for 40 dollars or always check your local library!