You could use "Jump into my arms" if you are trying to get your child to make the effort and actually jump into your arms. You could also say "Hop up here for a cuddle" or "Come here. I'm going to pick you up and carry you". There are many things you could say.
Please don't use "textspeak" or "chatlish" on the forum (ie don't use "wanna", use "want to").