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hand = te (手)=>otete (おてて)
leg/foot =ashi (足、脚)=> anyo (あんよ)
tummy = onaka (おなか)=> ponpon (ぽんぽん)
dog = inu (犬) => wanwan (ワンワン)
sleep = neru・nemuru (寝る・眠る) => nenne (ねんね）

There are many kind of baby words, but my talking to Pi-chan is very limited because she’s only a dog.
If you are interested in more baby words in Japanese, there is a website like this (in Japanese).
They sound cute!