Low power actuation of sessile droplets is of primary interest for portable or hybrid lab-on-a-chip and harmless manipulation of biofluids. In this paper, we show that the acoustic power required to move or deform droplets via surface acoustic waves can be substantially reduced through the forcing of the drops inertio-capillary modes of vibrations. Indeed, harmonic, superharmonic, and subharmonic (parametric) excitation of these modes are observed when the high frequency acoustic signal (19.5 MHz) is modulated around Rayleigh-Lamb inertio-capillary frequencies. This resonant behavior results in larger oscillations and quicker motion of the drops than in the non-modulated case