A little boy popped his head out of the doors and was peeking around at the train station.
この場合、次のような言い方ができますよ。
ーA little boy popped his head out of the doors and was peeking around at the train station.
「駅で男の子がドアから頭を出して覗いていた」
to pop one's head out of the doors で「ドアから頭を出す」
to peek「のぞく」
ご参考まで!