Cyclone
Cyclonic Member ((.oO))
Are you talking about when you use TACC? Then it does it automatically if it's under 5 or 30 seconds or something like that (I forget the exact details)
Otherwise, as other people have mentioned -- creep mode.
You can also pull the cruise stalk towards you to resume as long as you physically did not press the brake. If you pressed the brake, pull-to-resume will only activate above 18 mph.