Figure a saucy hug will give you a chuckle (5)
I believe the answer is:
laugh
'a chuckle' is the definition.
(I've seen this in another clue)
'figure a saucy hug' is the wordplay.
'figure' becomes 'l' (I've seen this in other clues).
'saucy' indicates an anagram.
'hug' anagrammed gives 'ugh'.
'l'+'a'+'ugh'='LAUGH'
'will give you' acts as a link.
(Other definitions for laugh that I've seen before include "Express joy or mirth" , "Show amusement or pleasure" , "Good fun" , "Chortle" , "Give audible sign of merriment" .)