I can reproduce tip-in knock at will in the same way that OP describes. I don't know much about what the ECU is doing except that it's waking up from fuel cut.
1. Drive for a good long period a steady highway speed.
2. Lift completely for long enough to go into fuel cut.
3. Stab at it. Doesn't take much.
Like @
ermax describes, it can be avoided by applying throttle in two stages. First crack it open to wake up the injectors. Then go ham-fisted (footed?) with confidence.