The English word for "期盼" is "anticipation." It comes from the Latin verb "anticipare," which means "to take care of beforehand." Here are some example sentences:

I'm looking forward to seeing you tomorrow. (我很期盼明天见到你。)

She has been anticipating the arrival of her new baby for months. (她已经期盼这个新生儿到来好几个月了。)

We are all in anticipation of the big game tonight. (我们都很期盼今晚的大比赛。)