Using the recently established formalism of a worldline quantum field theory (WQFT) description of the classical scattering of two spinless black holes, we compute the far-field time-domain waveform of the gravitational waves produced in the encounter at leading order in the post-Minkowskian (weak field, but generic velocity) expansion. We reproduce previous results of Kovacs and Thorne in a highly economic way. Then using the waveform we extract the leading-order total radiated angular momentum and energy (including differential results). Our work may enable crucial improvements of gravitational-wave predictions in the regime of large relative velocities.