StackScreenNavigator has the isSwipeToPopEnabled property to enable a gesture to navigate back in history. However, I assume that this isn't what you're looking for.
TabNavigator supports swiping between screens. You can set its isSwipeEnabled property to true. However, there is no way to use TabNavigator without its TabBar. I guess you could try setting the TabBar's height to 0. It will still be there, but it won't be visible. Or you could copy the TabNavigator's code to a new class and create a new component where there is no TabBar sub-component.