Gestural interfaces-based computational tools can be more suitable than other kinds of interfaces for the acquisition of handwriting skills by children with Developmental Coordination Disorder (DCD), or simply dyspraxia. Touchless interfaces could be able to reduce the difficulties of these individuals because they do not require physical contact and they dispense efforts of fine motor movements needed to perform calligraphy and also because they serve as motivation and are more intuitive than touchscreen and conventional graphical user interface. This work deals with concepts of Development Coordination Disorder and Human-Computer Interaction Principles, proposing a framework with a set of specific software guidelines for the development of gestural interfaces for handwriting skills acquisition by children with DCD, which were validated through a software tool.