With last beta http://beta.plantuml.net/plantuml.jar you can now have :
@startuml
Links are colored in blue
[Prototype design] lasts 14 days
[Build prototype] lasts 4 days
[Prepare test] lasts 6 days
[Prototype design] -[#012]-> [Build prototype]
[Prototype design] -[dotted]-> [Prepare test]
@enduml
or
@startgantt
[T1] lasts 4 days
[T2] lasts 4 days and starts 3 days after [T1]'s end with blue dotted link
[T3] lasts 4 days and starts 3 days after [T2]'s end with green bold link
[T4] lasts 4 days and starts 3 days after [T3]'s end with green dashed link
@endgantt
Is this what you are looking for ?