We derive new QCD sum rules for $Bto D$ and $Bto D^*$ form factors. The underlying correlation functions are expanded near the light-cone in terms of $B$-meson distribution amplitudes defined in HQET, whereas the $c$-quark mass is kept finite. The leading-order contributions of two- and three-particle distribution amplitudes are taken into account. From the resulting light-cone sum rules we calculate all $Bto Dst $ form factors in the region of small momentum transfer (maximal recoil). In the infinite heavy-quark mass limit the sum rules reduce to a single expression for the Isgur-Wise function. We compare our predictions with the form factors extracted from experimental $Bto Dst l u_l$ decay rates fitted to dispersive parameterizations.