Gestures are a natural form of communication between preverbal children and parents which support children's social and language development; however, low-income parents gesture less frequently, disadvantaging their children. In addition to pointing and waving, children are capable of learning many symbolic gestures, known as “infant signs,” if modeled by adults. The practice of signing with infants is increasingly popular in middle-income populations around the world, but has not been examined as an intervention to promote positive qualities of the parent–child relationship. This study tested whether an infant sign intervention (ISI) encouraging low-income parents to use symbolic gestures could enhance the parent–child relationship. A final sample of twenty-nine toddlers and their families were followed for 7 months after assignment to the ISI or a control group. Children and mothers in ISI group families used more symbolic gestures than those in control families. Mothers’ in the ISI group were more attuned to changes in children's affect and more responsive to children's distress cues. Mothers in the intervention group also viewed their children more positively, reducing parenting-related stress. This study provides evidence that a simple infant sign intervention is an effective tool to promote bidirectional communication and positive interactions for preverbal children and their parents.