The former Northampton striker made his first start in the league since September 21 and scored either side of the break for the Gills - his first goals since August.
Akinfenwa's double was sandwiched by Jim McNulty's red card and while Ryan Lowe grabbed a late consolation for Rovers with his 14th goal of the season, they could not prevent the visitors winning their first game in four.
"It's lovely that it's finished and we've got three points, but we made awfully hard work of it," said Taylor.
"The effort was fantastic, we conceded a really bad goal that made it a very nervous finish and we've got to get better than that.
"Overall, I've got be pleased with the three points and we've just got to take our chances a bit more.
"To be fair he (Akinfenwa) has been first class all the time.
"He's been a touch frustrated that he hasn't started many matches, but he understands the situation when I first got here.
"Danny Kedwell carried on scoring goals every game so that's why he was first pick. I just felt at times it didn't suit them to play together.
"He's been ever so patient but he's been very, very professional and very, very determined in training so it was good for him to get that chance."