If you mean "to look quickly and secretly":
* Jeter un coup d'œil: This is the most common phrase, meaning "to take a quick look."
* Regarder en douce: This means "to look stealthily."
* Espionner: This is a stronger word, meaning "to spy" or "to watch secretly."
If you mean "to make a small, quiet sound":
* Piailler: This is the sound of a small bird, but it can also be used to describe a soft, weak sound.
* Chuchoter: This means "to whisper."
* Grogner: This means "to grunt" and could be used for a small, low sound.
If you mean "to say something briefly":
* Dire un mot: This means "to say a word."
* Lancer un mot: This means "to throw a word."
* Faire un petit bruit: This means "to make a little noise."
Examples:
* J'ai jeté un coup d'œil dans la pièce. (I took a quick look into the room.)
* Le bébé a piaillé dans son sommeil. (The baby peeped in its sleep.)
* Il a chuchoté son secret à son ami. (He whispered his secret to his friend.)
To give you the best translation, please provide the context of how you're using "peep."