peep

peep verb [ I ] uk/piːp/ us   peep at/ through/out, etc
to look at something for a short time, often when you do not want other people to see you

подглядывать за/через/из-за и т. д.
She peep ed at them through the fence.  peep through/over/out from, etc
to appear but not be seen completely

выглядывать, быть видимым сквозь/над/из-за и т. д.
The sun peep ed out from behind the clouds. peep noun [ no plural ]

взгляд украдкой, подглядывание
She took a peep at herself in the mirror.