A touch screen is just a pointing device like a mouse, you can use it as a replacement of a common mouse in every OS around, even the oldest ones, I've seen my first touch screen pointing device in an IBM machine equipped with AIX in a production plant many years ago...
There's no direct support for it in the operating system, there's some sort of driver that aims to replace a common mouse.
XWindow systems (no matter about the OS) had it from the beginning ('70s).

But, if you're focused on gestures it's a totally different thing, I guess gestures where firstly introduced under XWindow for supporting some operations (as Drag'n'drop for example), later on more operation where available (scroll, pinch, ...) on hand held devices (Newton, PalmOS, ...) and desktop OSes (OS-X, Win, ...); but absolutely a lot of years before 2007 !