As part of the Museum of Richmond's exhibition on the Slave Trade in 2007, Paul Freeman performed and recorded electronic instrumental versions of some of Sancho's songs and dances. You can listen to them here.
A recording, Minuets & Optional Dances is availble on the Aacms label, played by the Afro-American Chamber Music Society Orchestra conducted by Janise White. It can be downloaded from iTunes, or from Amazon.