A very nice (women's quartet) rendition on YouTube here: http://www.youtube.com/watch?v=5M_r_3YV3IU

The info section of this lute clip ( http://www.youtube.com/watch?v=qrbW-bsckxE ) contains a singable French "translation", so if you want a longer version...

Luis Milan is well-known among lutenists and classical guitarists; he wrote many pieces in the standard repertoire.