먹어 봐, 만져 봐, 마셔 봐, 골라 봐.... this "봐" come from "보다" basically makes you to try to do something and "see" what's gonna happen. You might like it or hate it, but you won't know until you "try" and "see(not with your eye, though)". So it is used to make a gentle suggestion and also a command in a softer way as Bradley also explained :)