Graffiti has long documented the socio-cultural landscapes of urban spaces, yet increasing global regulations have constrained artists’ creative freedom, prompting exploration of digital alternatives. Augmented Reality (AR) offers opportunities to extend graffiti into digital environments while retaining spatial and cultural significance, but prior research has largely centered on audience engagement rather than the embodied creative processes of graffiti artists. To address this, we developed GestoBrush, a mobile AR prototype that turns smartphones into virtual spray cans, enabling graffiti creation through embodied gestures. A co-design workshop underscored the role of embodiment—physical engagement with surroundings and body-driven creative processes—in digital workflows. We evaluated GestoBrush with six graffiti artists and findings suggested that embodied AR interactions supporting artists bypass real-world constraints and explore new artistic possibilities, whose AR artworks created enhanced senses of intuitiveness, immersion, and expressiveness. This work highlight how embodied AR tools can bridge the gap between physical graffiti practice and digital expression, suggesting pathways for designing immersive creative systems that respect the cultural ethos of street art while expanding its possibilities in virtual spaces.