yes, you are using the same word. "Kigge" is more "looking at" something. Or: "Vil du kigge forbi til en kop kaffe?" - Would you like to come over for a cup of coffee?" "Jeg ser på dig" = I am watcing on you, or: I am looking at you. "Ser du mig" = Do you see me? "Ser du PÅ mig?" = "Do you look AT me"? If you should say the sentence in past in the way you suggest, it woud be: "Hvilket dyr stod du og kiggede på?" Remember the "DE" in the end of the word when it is past.
I have not found a single Danish native speaker who would translate this sentence into Danish like that. How would you know if you stood or sat or lied down to watch the animal??? It is so arbitrary and outlandish that I hate this entire topic because it just does not make sense whatsoever. Either the English translations are wrong or the context of this whole thing. I am so ready to give up!