I'm looking for a slang, phrasal verb or a word that explains people looking at something or someone. E.g. when people gather around a new-born baby and look at it with joy. Or when someone is looking at the marvelous painting hung at the wall.
to admire comes very close:
to look at (something or someone) with enjoyment
MW gives the following example sentence:
We gazed out the window and admired the scenery