1. I agree with Phillip Mun here, -봐 basically tones down a command.
Let's suppose I'm in trouble. If my friend says "말해" to me, I'll be likely to refuse to say a word about what kind of trouble I'm in. However, if she or he says "말해봐" instead, I'll feel more comfortable to talk about it.
As we see, -봐 adds a certain tone that goes: "Give it a try and let's see what happens(or what we can do about it)". That may explain why I got a little irritated when an English-speaking friend said imperative sentences very often.
2. -와 means "Come here"
잡아와 = catch him or her and come here with him or her.
집어와 = pick it up and come here with it.
해와 = do it and come here with it.
3. The -는 걸 ending you're asking is one with some intonation I can't express in words, this use isn't common in daily conversation since it sounds very lyrical.
하지만 난 널 사랑하는 걸. But I love you(I can do nothing about it)
너에게 달려가고 싶지만 그럴 수가 없는 걸. I want to run to you, but there's no way of doing it.
4. -세요 makes a honorific imperative sentence.
여기 앉으세요. Please sit here.
잠시만 기다리세요. Wait a moment.