This study was aimed to compare the intention inference by shape and position of hands between autism spectrum disorder and typical children. The study subjects were 29 typical children with age of 3 to 4 years old, and 15 autism spectrum disorder adjusted by the language age. The study task as an intention inference consisted of functional movement taking position and shape of hands related to the function of things and non-functional movement taking position and shape of hands regardless of the function of things so as to review the intention of others with the characteristics of inference by shape and position of hands. Two-way ANOVA was performed to understand the difference of performance for the intention inference task between 3-year-old and 4-year-old typical children. Performance differences between 3-year-old typical children and autism spectrum disorder children was analyzed using performance distribution map. Difference between the types of movements was analyzed using independent samples T-test to investigate the difference of intention inference task performances between 4-year-old ordinary children and children with autism. As a result, significant difference of performance was found between 3-year-old and 4-year-old typical children, with significant interaction effects between the groups and between the types of movements. Similar trend was found in the performance distribution map comparing 3-year-old autism spectrum disorder children with typical children. Also, significant difference of performance was found between 4-year-old autism spectrum disorder children with typical children. This implicates that children developing from 3 to 4 years can develop the skill to infer others’ intention using overall context and evidences. 4-year-old autism spectrum disorder children had the difficulty of understanding and handling various information in an integrative way compared to typical children, demonstrating the characteristics of intention inference of others focusing on specific parts.