Categorization has traditionally been studied in the visual domain with only a few studies focusing on the abilities of the haptic system in object categorization. During the first years of development, however, touch and vision are closely coupled in the exploratory procedures used by the infant to gather information about objects. Here, we investigate how well shape information can be transferred between those two modalities in a categorization task. Our stimuli consisted of amoeba-like objects that were parametrically morphed in well-defined steps. Participants explored the objects in a categorization task either visually or haptically. Interestingly, both modalities led to similar categorization behavior suggesting that similar shape processing might occur in vision and haptics. Next, participants received training on specific categories in one of the two modalities. As would be expected, training increased performance in the trained modality; however, we also found significant transfer of training to the other, untrained modality after only relatively few training trials. Taken together, our results demonstrate that complex shape information can be transferred efficiently across the two modalities, which speaks in favor of multisensory, higher-level representations of shape.