Bembry is traveling to Milwaukee to finalize a deal as soon as Wednesday, sources said.
The arrival of Bembry still leaves the Bucks with two open spots, and Milwaukee remains a possible landing spot for veteran Goran Dragic, who was waived by the San Antonio Spurs on Tuesday, sources said.
Bembry averaged 5.8 points and 3.2 rebounds, including 57% shooting and 41.7% from 3-point range. He averaged nearly 20 minutes a game for Brooklyn.
The Bucks are without Pat Connaughton for a month (hand surgery) and also have been missing guard George Hill (neck injury). Milwaukee traded guard Donte DiVincenzo to the Sacramento Kings at the trade deadline.