We present the results of the application of the Dispersion Matrix approach to semileptonic heavy-to-heavy and heavy-to-light $B$-meson decays. This method allows to determine the hadronic form factors in a non-perturbative and model-independent way. Starting from the available lattice results at large values of the momentum transfer, we obtain the behaviour of the form factors in their whole kinematical range without introducing any parameterization of their momentum dependence. We will focus on the determination of the Cabibbo-Kobayashi-Maskawa matrix elements $\vert V_{cb} \vert$ and $\vert V_{ub} \vert$ through the analysis of $B \to D^{(*)} \ell \nu$, $B_s \to D_s^{(*)} \ell \nu$, $B \to \pi \ell \nu$ and $B_s \to K \ell \nu$ decays. New theoretical determinations of the Lepton Flavour Universality ratios relevant for these transitions will be also presented, by focusing in particular on the $R(D_{(s)}^{(*)})$ ratios.