Question

Which word in this excerpt from act I, scene I, of Richard III means “to listen”?

Answer 1

Since you didn't write the excerpt here, I am going to assume that there is a word 'hearken' somewhere in the text. If there is, that is your answer - it is an archaic, old word for modern 'listen'. 

Answer 2

Richard III was a historical play written by Shakespeare in 1593. At that time people used old English like hearken that has changed to hear or listen nowadays.