Synonyms for Tickle (same or very similar meaning)
WordNet sense 1 (touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements):
titillate, vellicate
WordNet sense 2 (feel sudden intense sensation or emotion):
thrill, vibrate
WordNet sense 3 (the act of tickling):
titillation, tickling
From the ODE community, based on WordNet
add/edit