You indeed want (gdb) x/4xw $sp:
(gdb) help x
Examine memory: x/FMT ADDRESS.
ADDRESS is an expression for the memory address to examine.
FMT is a repeat count followed by a format letter and a size letter.
Format letters are o(octal), x(hex), d(decimal), u(unsigned decimal),
t(binary), f(float), a(address), i(instruction), c(char) and s(string).
Size letters are b(byte), h(halfword), w(word), g(giant, 8 bytes).
The specified number of objects of the specified size are printed
according to the format.
In this case, the repeat count is 4, the format letter is x(hex) and the size letter is w(word, 4 bytes).
x/4xw $espperhaps?