Yes it does, but it needs to be enabled, and you need to load an external gesture typing library. As of now, Google's is unfortunately the most robust.

Go into Heliboard's settings, in the Advanced menu, at the very very bottom, there is a "Load gesture typing" option.

After you load a library, the gesture typing menus become visible, and you can customize it as much as you need.

Also, they recently started an opt-in gesture typing collection, to make an open source gesture typing library, which will eliminate the need for Google's library, so if you like swiping, you can help by participating!