I have heard this a couple of times and it is always deeply moving and poignant. It is by Norma Johnson and is titled “A Poem for My White Friends”
She also has an excellent website and will soon be posting a new poem called, “In My Bones” – https://allinspirit.com/
Here is the YouTube of the “Poem for My White Friends” –
https://youtu.be/3UVIgjuovt8