In this paper we introduce an end-user programming approach for defining interaction sequences with collaborative robots using gestures. The approach relies on a textual domain-specific language (DSL) to allow end users to specify the expected robot behaviour through Behaviour-Driven Development (BDD) scenarios. To evaluate the feasibility of our approach, we conducted a user study with 12 participants having an entry level in programming. The participants were asked to code a sequence in which the collaborative robot responds to their body gestures by performing a pick-and-place task. The study’s findings indicate that the method is both effective and user-friendly for individuals with limited programming experience, while highlighting opportunities for adopting new end-user development practices.