Licar (lee • CAR) is an alternative way to say "to take a look". It is not offensive. However, its use its rather informal and conveys that the speaker knows the ways of the street. Use it in combination with other rather rough terms in order to be consistent in the image you project with your speech.
Copiloto: ¿Licaste a la reinita en primera clase que está súper sobres? Me late que no es nada apretada.
Capitán: Neta, párale al cotorreo y ponte al tiro que ya vamos a despegar.
Copilot: Did you check out the hottie in first class that looks very interested? It seems she's game.
Captain: Straight up, drop it and get yourself prepared. We're about to take off.