In face-to-face conversation, people use speech and gesture to convey meaning. Seeing gestures alongside speech facilitates comprehenders’ language processing, but crucially, the mechanisms underlying this facilitation remain unclear. We investigated whether comprehenders use the semantic information in gestures, typically preceding related speech, to predict upcoming meaning. Dutch adults listened to questions asked by a virtual avatar. Questions were accompanied by an iconic gesture (e.g., typing) or meaningless control movement (e.g., arm scratch) followed by a short pause and target word (e.g., “type”). A Cloze experiment showed that gestures improved explicit predictions of upcoming target words. Moreover, an EEG experiment showed that gestures reduced alpha and beta power during the pause, indicating anticipation, and reduced N400 amplitudes, demonstrating facilitated semantic processing. Thus, comprehenders use iconic gestures to predict upcoming meaning. Theories of linguistic prediction should incorporate communicative bodily signals as predictive cues to capture how language is processed in face-to-face interaction.