Nouns

(n)impromptuan extemporaneous speech or remark“a witty impromptu must not sound premeditated”
(n)impromptua short musical passage that seems to have been made spontaneously without advance preparation

Adjectives

(s)ad-lib, extemporaneous, extemporary, extempore, impromptu, offhand, offhanded, off-the-cuff, unrehearsedwith little or no preparation or forethought“his ad-lib comments showed poor judgment”, “an extemporaneous piano recital”, “an extemporary lecture”, “an extempore skit”, “an impromptu speech”, “offhand excuses”, “trying to sound offhanded and reassuring”, “an off-the-cuff toast”, “a few unrehearsed comments”

Adverbs

(r)ad lib, ad libitum, spontaneously, impromptuwithout advance preparation“he spoke ad lib”