Many different ways in English: The bean sprouts were beginning to poke out of the soil. I knew there were birds in my birdhouse because I saw a tiny head poke out a couple of times. Be careful with that sharp stick, you might poke out your eye.

poke out is similar to the Spanish word " asomar" . It is used in the same way, Quiero asomar mi mano de la ventana. I want to poke my hand out the window,.There are many other uses too numerous to list here. Try a Google search