Gamba grass, a leading alternative for forage development in Brazil Cerrado’s areas, has received a more extensive researchers' attention in the recent years. Although three cultivars were already released, for gamba grass to be an alternative to most planted forage species in Brazil (Genera Urochloa and Megathyrsus), significant technological improvements need to be achieved, mainly in genetic development of DM yield and forage quality. Understanding genetic variability of populations and the nature of the gene action governing the inheritance of traits are important contexts to obtain genetic gains from selection in breeding programs. The objective was to estimate DM yield and quality traits narrow-sense heritability and expected gains from HS family tests of two populations originated from the cultivars BRS Sarandi and cv. Planaltina. The trials were established in spring 2017 in Planaltina, DF and evaluated in February and March, 2018 and January, February, and March, 2019. Cultivar BRS Sarandi presented better forage quality than did cv. Planaltina due to higher CP and lower NDF, ADF, CEL, and HEMIC contents, and they did not differ for DM yield. Heritability estimates were low to moderate in magnitude for both populations, ranging from 0.31 to 0.68 for individual harvests and from 0.07 to 0.27 for models across harvests and years. Similar low h2 magnitudes across harvests and years were also observed for all quality traits estimated for both populations. The theoretical expected gains per year for all traits reflected modest gains, but all aligned with those from literature. The nature of the genetic variation is quantitative for all studied traits, since they were highly influenced by the environment. Results suggest more elaborated breeding methods, more cycles of selection, and more accurate measurement techniques to improve chances of success when breeding gamba grass for yield and quality. Alternatively, the use of genomic selection may promote a faster improvement of DM yield and forage quality traits, to overcome the constraints of low heritability, number of selection cycles, high costs, and multi-trait selection.