The present study investigated the potential of using gestures to guide and control unmanned automated heavy vehicles in underground mine contexts, as well as the effects of adding external human-machine interfaces (eHMIs) to provide feedback during the gesture interaction. A study with 12 professional operators was conducted in a simulated mine environment, utilizing a Wizard of Oz methodology. The subjects used gestures to guide and control a heavy vehicle in three different scenarios in the mine, and different aspects of the user experience (UX) were assessed. The results support the notion that there is high potential in using gestures when operators stand in close proximity to the vehicles. Moreover, the results suggest that eHMI solutions can enhance the operator’s acceptance and feelings of safety. The selected gestures seemed appropriate for the investigated scenarios, which should be valuable insights for practitioners intending to develop and implement gesture interaction for similar applications.