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This paper presents Gismo, an extensible domain-specific modelling language for prototyping executable models of gestural interaction. Relying on an underlying customisable framework, domain-specific models can specify, simulate and execute the behaviour of how users interact with a software application through the use of different interaction controllers and gesture types (e.g., specific hand movements or other body gestures). Model transformation technology is used to define the domain-specific operational semantics of Gismo, as well as to verify domain-specific properties. ICO models are automatically generated from Gismo models, and are executed by an underlying framework that can communicate with the target software application. We illustrate the use of Gismo through a running example that models the gestural interaction of a graphical application using dynamic hand gestures to control an animated 3D character. We report on the usability of Gismo based on an evaluation with 12 participants.