You should be able to assume your key is being filled with water. Water is very close to 0.997 kg/L, or for you southerners 8.3454 lbs/gallon. So if you put your empty key on a scale and zero it, then transfer in 41.75 lbs (8.35lbs * 5 gallons) you have just filled you keg with 5 gallons of beer.
So, mass of beer = density * volume of beer
Mass (lbs) = 8.34 lbs/gallon * gallons
Or
Mass (kg) = 0.997 kg/L * liters
Now, I don't know how accurate you are trying to be, but alcohol weighs about 78.9% of an equal volume of water, so technically you are over filling your keg ever so slightly if you follow the above formula but the error is likely not an issue. But I suppose that decision depends on context.
If you are concerned about such things (which I doubt you should be) this formula will calculate mass of beer based in volume and alcohol percentage:
Mass (lbs) = 8.34 lbs/gallon * gallons * (1 - Etoh%/100) + 6.5845 lbs / gallon * gallons * Etoh%/100
Mass (kg) = 0.997 kg/L * liters * (1-Etoh%/100) + 0.789 kg/L * liters * Etoh%/100
So for example, to transfer exactly 5 gallons of 5% beer to your keg using this formula:
Mass = 8.34*5*(1-0.05) + 6.5845*5*0.05
Mass = 41.31 lbs
So like I said, not worth the extra effort, especially because this doesn't take into account the non-fermentable proteins, hop oils, etc that are present in your beer.