big, great
little, short, small
quick, sharp, sudden
ragged (esp. AmE)
audible, loud
shocked, startled, surprised
strangled
involuntary
collective
You could hear a collective gasp from the audience.

give, let out
stifle
bring
The stunt brought shocked gasps from the audience.

hear
take, take in
He was taking in great gasps of air.

escape sb

between gasps
‘Listen carefully,’ he said, between gasps of breath.

in gasps
He leaned against the railing, his breath coming in short gasps.

with a gasp
She gave a little gasp of delight.

gasp of

almost
suddenly
aloud, audibly, loudly
breathlessly, softly

make sb
The cold made her gasp.

manage to
‘No!’ she managed to gasp.

at
She gasped at his boldness.

in
Denise almost gasped aloud in astonishment.

with
She was gasping with pain.

gasp for air, gasp for breath
leave sb gasping
Her breath went and left her gasping for air.

Gasp is used with these nouns as the subject:
audience