Here are the stanzas from The Cyber Hymnal that I believe to be Brooke's translation:

See how the shepherds, summoned to His cradle,
Leaving their flocks, draw nigh to gaze;
We too will thither bend our joyful footsteps;

Lo! star led chieftains, Magi, Christ adoring,
Offer Him incense, gold, and myrrh;
We to the Christ Child bring our hearts' oblations.

Child, for us sinners poor and in the manger,
We would embrace Thee, with love and awe;
Who would not love Thee, loving us so dearly?

Liland