Peep (verb)

1. Make a faint or high-pitched sound, like that of a young bird.
2. To make a short, quiet sound, or to look quickly at something.

Origin:

Late 16th century: imitative of the sound made.

Examples:

1. The chicks were peeping.
2. The baby peeped in its sleep.
3. She peeped through the window.
4. He peeped around the corner.
5. The bird peeped from its nest.