Wonder Dog was an impressive example of this. He often used his paws to act out something to get someone to guess what it was he was trying to say. He danced around pretending he was playing bagpipes to get the Super Friends to think of "Scotland."
Wonder Dog was even capable of barking in such a way that it sounded like actual words. For example, he was very good at mimicking the word "Yeah," which he did from time to time. He was also able to understand and communicate with Krypto, whom Superman taught a "barking code" to.