Gravity waves, which propagate in radiation zones, can extract or deposit angular momentum by radiative and viscous damping. Another process, poorly explored in stellar physics, concerns their direct interaction with the differential rotation and the related turbulence. In this work, we thus study their corotation resonances, also called critical layers, that occur where the Doppler-shifted frequency of the wave approaches zero. First, we study the adiabatic and non-adiabatic propagation of gravity waves near critical layers. Next, we derive the induced transport of angular momentum. Finally, we use the dynamical stellar evolution code STAREVOL to apply the results to the case of a solar-like star. The results depend on the value of the Richardson number at the critical layer. In the first stable case, the wave is damped. In the other unstable and turbulent case, the wave can be reflected and transmitted by the critical layer with a coefficient larger than one: the critical layer acts as a secondary source of excitation for gravity waves. These new results can have a strong impact on our understanding of angular momentum transport processes in stellar interiors along stellar evolution where strong gradients of angular velocity can develop.