'Cross' entered English via Old Norse from Latin 'crux' — the verb grew from making the sign of the cross.
To go or extend across or to the other side of a place, path, or obstacle; to intersect.
From Middle English 'crossen,' derived from the noun 'cross,' which entered English from Old Norse 'kross' and Old Irish 'cros,' both ultimately from Latin 'crux' (stake, cross) of uncertain earlier origin. The verb was formed in English from the noun. Latin 'crux' originally meant an upright stake or pole used for execution; the sense of two intersecting beams