Come on, come here! Hurry!

Literal

Come [soft-imperative-なさい]! Hurry [sequential-て]!

Two short imperatives. 来なさい uses the ~なさい form — softer than the bare imperative 来い but still a direct command, typically from a parent or authority figure to a child or subordinate. 急いで is the て-form of 急ぐ used as a standalone imperative ('hurry!'). さあ is an interjection urging action. The overall tone is parental — urgent but not hostile.