St, Francis and his brothers, and St. Clare and her sisters, praised God in many different prayers. Many of these prayers are full of praise and worship. The three prayers below were all composed by St. Francis.
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The Divine Praises

You are holy, Lord,
The only God,
andd your deeds are wonderful.
You are strong, 
you are great, 
you are the Most High,
you are the almighty King.
You, holy Father,
are King of heaven and earth.
You are three and one,
God above all gods.
You are good, all good, supreme good,
Lord God, living and true.
You are love,
you are wisdom,
you are humility,
you are endurance,
you are beauty,
you are gentleness,
you are security,
you are rest,
you are joy.
You are our hope and happiness,
you are justice and moderation,
you are all our riches,
you are beauty,
you are gentleness,
you are our protector,
you are our guardian and defender.
You are strength,
you are consolation, 
you are or hope,
you are our faith,
you are our love,
you are all our sweetness,
you are our eternal life,
great and admirable Lord,
God almighty,
merciful Saviour.

From The Prayers of St. Francis, compiled by W. Bader, p. 35-36
St. Francis' Blessing For Brother Leo

God bless you and keep you.
May God smile upon you and be merciful to you;
May God turn His regard towards you and give you peace.

May God bless you, Brother Leo.
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From Omnibus of Sources, p.126
Prayer to Blessed Father Federic
 for Vocations to the OFS

Blessed Fr. Fredric Janssoone
Lord You have called on Bl. Fr. Fredric to help us,
through Mary, to follow the path of your son.
Obtain for us through Fr. Fredric's example a deeper faith, hope and charity,
aiding us in bringing more of the faithful
into the fraternity of the Secular Franciscan Order. Grant us, by his intercession and according to Your will, the graces we implore, hoping that Blessed Fr. Fredric will soon be numbered among Your Saints.
Amen.
 
Glory be to the father.. (three times).
And being in anguish, He prayed more earnestly. Luke 22:42-44
A Salutation of the Blessed Virgin Mary

Hail, holy Lady
Most holy Queen.
Mary, Mother of God!
Ever virgin;
Chosen by the most Holy Father in heaven
Consecrated by him,
With His most holy beloved Son
and the Holy Spirit, the Comforter.
On you descended and in you still remains
All the fullness of grace and every good.

Hail His Palace!
Hail His Tabernacle!
Hail His Robe!
Hail His Handmaid!
Hail His Mother!

And hail all holy Virtues
Who, by the grace
And inspiration of the Holy Spirit,
Are poured into the hearts of the faithful
So that, faithless no longer,
They may be faithful servants of God
Through you.

From Omnibus of Sources, p. 135-136
JPIC Prayers of the Faithful for Franciscans
Compiled by Andrew Conradi, ofs from various sources 17 Oct 2016 with subsequent additions
Feel free to select and use these prayers for your your liturgies.