In low-mass binary systems, mass transfer is likely to occur via a slow and dense stellar wind when one of the stars is in the AGB phase. Observations show that many binaries that have undergone AGB mass transfer have orbital periods of 1-10 yr, at odds with the predictions of binary population synthesis models. We investigate the mass-accretion efficiency and angular-momentum loss via wind mass transfer in AGB binary systems. We use these quantities to predict the evolution of the orbit. We perform 3D hydrodynamical simulations of the stellar wind lost by an AGB star using the AMUSE framework. We approximate the thermal evolution of the gas by imposing a simple effective cooling balance and we vary the orbital separation and the velocity of the stellar wind. We find that for wind velocities $v_{infty}$ larger than the relative orbital velocity of the system $v_mathrm{orb}$ the flow is described by the Bondi-Hoyle-Lyttleton approximation and the angular-momentum loss is modest, leading to an expansion of the orbit. For low wind velocities an accretion disk is formed around the companion and the accretion efficiency as well as the angular-momentum loss are enhanced, implying that the orbit will shrink. We find that the transfer of angular momentum from the orbit to the outflowing gas occurs within a few orbital separations from the center of mass of the binary. Our results suggest that the orbital evolution of AGB binaries can be predicted as a function of the ratio $v_{infty}/v_mathrm{orb}$. Our results can provide insight into the puzzling orbital periods of post-AGB binaries and suggest that the number of stars entering into the common-envelope phase will increase. The latter can have significant implications for the expected formation rates of the end products of low-mass binary evolution, such as cataclysmic binaries, type Ia supernova and double white-dwarf mergers. [ABRIDGED]
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