A gear shifting device for shifting gears of a transmission comprises: at least one guide rail each extending in a longitudinal axis thereof; a plurality of shift effecting members (e.g., shift forks or the like) configured to move a plurality of corresponding sliding sleeves coupled to the guide rail for shifting gears upon actuation of a shift actuator, the shift effecting members each having a terminal end portion with a finger receiving opening formed therein, the finger receiving opening extending in a direction generally parallel to the longitudinal axis of the guide rail; and a shift shaft extending in a direction generally parallel to the longitudinal axis of the guide rail, the shift shaft having a shift finger coupled thereto. The shift shaft is rotatable to pivotally position the shift finger at locations aligned with the finger receiving openings of the shift effecting members, and is also displaceable in the longitudinal direction in the finger receiving openings to move the shift effecting members to effect a gear shifting operation. Methods of shifting gears with a gear shifting device are also disclosed.