Hi my DD has done this on odd occasions, screaming so loudly that both myself and DH go running to her aid thinking she must be in agony. We have found it is generally related to a bad dream and that after a few moments of talking to her reassuring her she is safely at home in her bed with mummy and daddy to keep her safe she soon goes back to sleep (unless there is another problem such as dirty bottom). Instead of trying to cuddle, talk to her so she hears your voice, hopefully the reassurance of knowing your there will help her recover that little bit faster. Best wishes and hope all works out.