beckon

Short definition from Wiktionary

Verb

1. 1
   To wave or nod to somebody with the intention to make the person come closer.
2. 2
   To seem attractive and inviting.

Noun

1. 1
   A sign made without words; a beck.
2. 2
   A children's game similar to hide and seek in which children who have been "caught" may escape if they see another hider beckon to them.