beckon to

beckon to (one)

To wave or signal to one with a gesture that indicates they should come closer. I think it's safe to go over there now—the guard just beckoned to us.
See also: beckon, to
Farlex Dictionary of Idioms. © 2015 Farlex, Inc, all rights reserved.

beckon to someone

to signal someone to come. Wally beckoned to Sally, and she came over to him. Lily beckoned to Max and he turned his back on her.
See also: beckon, to
McGraw-Hill Dictionary of American Idioms and Phrasal Verbs. © 2002 by The McGraw-Hill Companies, Inc.
See also:
References in classic literature ?
Squalor and tragedy can beckon to all that is great in us, and strengthen the wings of love.
"An unintentional cry of Joy escaped the Youth, he let his Zither fall, and with extended arms he called out the name of the enigmatical Being, who seemed to stoop lovingly to him and beckon to him in a friendly manner; indeed, if his ear did not deceive him, she called his name with unutterable sweet Whispers, proper to love.
Instead, new research indicates that most eggs actively beckon to would-be partners, releasing an as-yet-unidentified chemical to lure sperm cells.