I'm giving this no more than a 3 because I've only found one reference to it, but it's the only reference I can find to a format of this kind. I've explained in the discussion area how "al gol sale" works: it's a way of playing a game with three or more teams, of which two are playing at any one time, and as soon as one concedes a goal they go off and the other/another team comes on. So the team that scores stays on the field and their opponent changes.

Here's the same thing in a coaching manual for 7-9-year-olds (American, as you can tell from the spelling and the reference to "soccer"):

"Fun Competitive Game 5
“One And Done.” Divide the players into three equal teams with each wearing a different shirt color. Have two of the teams play a regular game against each other. The third team is off the field, retrieving stray soccer balls. When a team allows a goal, they must immediately run off the field. They are replaced by the team that was off the field. Continue replacing the team that allows a goal with the team that is currently off the field."
http://www.lmsc.net/intramural_coaches_manual_for_7-9_year_o...

As I say, it's the only example I can find. I don't say that people will understand what it means, but it could be used. You've got to put something, and it's got to sound like something everybody knows.

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Note added at 2 hrs (2015-10-09 22:59:51 GMT)
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Or I suppose you could invent a more explanatory term like maybe "goal and change over".

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Note added at 2 hrs (2015-10-09 23:25:12 GMT)
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Or "score and change teams", perhaps.

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Note added at 1 day13 hrs (2015-10-11 09:31:07 GMT)
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Many thanks to Neil for the suggestion of "winner stays on". It's not exactly right, because it's not the winner, but slightly adapted it would be idiomatic and accurate:

First to score stays on.

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Note added at 1 day13 hrs (2015-10-11 09:46:38 GMT)
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Or Scorer stays on, if Neil is right and there are just the three of them there, in which case the speaker is proposing a kickabout one-on-one with "al gol sale" rules, which is quite common (my kids used to play like that with friends).

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Note added at 1 day13 hrs (2015-10-11 10:00:25 GMT)
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Further refs: Here's a video of a "campeonato al gol sale" from Chile. At one point the announcer says "¡Golazo! El equipo sale", which means the team that conceded that goal go off.
https://www.youtube.com/watch?v=BCkzNV_pr1A

"al gol sale el equipo y entra el que está esperando"
http://www.velocidadmaxima.com/forum/archive/index.php/t-463...

"cuando salias con tus patas a la canchita del parque a jugar con una pelota cualqiera, y si habia mucha gente pues haciamos triangular.... la clásica "al gol sale""
http://www.forosperu.net/temas/a-todos-los-que-son-de-mi-gen...

"Como una forma de estimular la competencia lúdica se jugará “al gol sale”. [...]
Fútbol Libre: se divide el grupo en 3 equipos, “AL GOL SALE” o un máximo de 10 minutos en cancha. El ganador es el con mejor diferencia de gol. [...]
En cada cancha, 3 equipos, competencia “al gol sale”. [...]
http://repositorio.uta.edu.ec/bitstream/123456789/7744/1/FCH...