Abstract: By solving the Muskhelishvili-Omnes integral equations, the scalar form factors of the semileptonic heavy meson decays D -> pi(l) over bar nu(l), D -> (K) over bar(l) over bar nu(l), (K) over bar -> pi(l) over bar nu(l) and (B) over bar (s) -> Kl (nu) over bar (l) are simultaneously studied. As input, we employ unitarized heavy meson-Goldstone boson chiral coupled-channel amplitudes for the energy regions not far from thresholds, while, at high energies, adequate asymptotic conditions are imposed. The scalar form factors are expressed in terms of Omn\`es matrices multiplied by vector polynomials, which contain some undetermined dispersive subtraction constants. We make use of heavy quark and chiral symmetries to constrain these constants, which are fitted to lattice QCD results both in the charm and the bottom sectors, and in this latter sector to the light-cone sum rule predictions close to q(2)=0 as well. We find a good simultaneous description of the scalar form factors for the four semileptonic decay reactions. From this combined fit, and taking advantage that scalar and vector form factors are equal at q(2)=0, we obtain |V-cd| = 0.244 +/- 0.022, |V-cs| = 0.945 +/- 0.041 and |V-ub| = (4.3 +/- 0.7)x10(-3) for the involved Cabibbo-Kobayashi-Maskawa (CKM) matrix elements. In addition, we predict the following vector form factors at q(2) = 0: |f(+)(D ->eta)(0)| = 0.01 +/- 0.05, |f(+)(Ds ->eta)(0)| = 0.50 +/- 0.08, |f(+)(Ds ->eta)(0)| = 0.73 +/- 0.03 and|f(+)((B) over bar ->eta)(0)| = 0.82 +/- 0.08, which might serve as alternatives to determine the CKM elements when experimental measurements of the corresponding differential decay rates become available. Finally, we predict the different form factors above the q(2)-regions accessible in the semileptonic decays, up to moderate energies amenable to be described using the unitarized coupled-channel chiral approach.