They're present participles as they're replacing a relative clause.
The classroom is clean and bright, which makes it a nice place to study. -relative clause
The classroom is clean and bright, making it a nice place to study. - participle clause
A small rug lies in front of the bed, which adds a cozy touch to the room.
A small rug lies in front of the bed, adding a cozy touch to the room.
As Dan says, in order to be a gerund it would have to function as a noun. In such cases, the gerunds are usually activities.
Travelling to work is my least favourite part of the day. - gerund as you could replace travelling with journey, trip, etc.
The journey to work ...
Travelling to work, I realised I'd left the iron on. - participle as it is a reduced clause: as/while I was travelling ...
While I was travelling to ...