If you've got PowerShell on your system, you can just execute this command:
powershell -command "Start-Sleep -s 5"
Edit: people raised an issue where the amount of time powershell takes to start is significant compared to how long you're trying to wait for. If the accuracy of the wait time is important (ie a second or two extra delay is not acceptable), you can use this approach:
powershell -command "$sleepUntil = [DateTime]::Parse('%date% %time%').AddSeconds(5); $sleepDuration = $sleepUntil.Subtract((get-date)).TotalMilliseconds; start-sleep -m $sleepDuration"
This takes the time when the windows command was issued, and the powershell script sleeps until 5 seconds after that time. So as long as powershell takes less time to start than your sleep duration, this approach will work (it's around 600ms on my machine).