I have two for you:

My father used to sing us to sleep with Tennyson's "Sweet and Low." The second, Kipling's "Seal Lullaby," I remember from high-school chorus.

Here is the website for those and a few others: http://www.babysstory.com/StoryPages/PoetryMain.htm

The music for the Kipling piece can be had at the following website:

http://emeraldharp.com/music10.htm