With the embedding of computing resources into physical elements, computing is moving toward ubiquity (or pervasiveness) and is present throughout the physical environment. Homes, furniture, and everyday life objects are the interfaces with which people now interact. Such new interfaces harbinger a new interaction paradigm that is little known and exploited to date, such as Tangible User Interfaces (TUIs) that use physical artefacts for representing and manipulating digital information. Developing TUIs means acknowledging both concrete (form) and abstract (behavior) aspects of an interface. This work proposes a method called Collaborative Tangible Prototyping Based on Semiotics Engineering that combines prototyping and Semiotic Engineering approaches to tangible interfaces design. By combining these approaches, the method brings together the benefits of continued structured experimentation provided by prototyping with the advantages of a focus on communicability from Semiotic Engineering for designing tangibles. A case study is conducted to investigate whether the proposed method contributes to incorporate the Semiotic Engineering perspective in the design of tangible user interfaces.