The formula is the the density of the sample divided by the density of water at 20°. Units don't matter as long as the volumes and measurements are the same. As it is a ratio, if the volume is out, e.g your beaker/flask is out by 3ml, as long as you use the same flask/beaker filled to an identical level, then it will work.
There's a trick for eliminating volume verification by the Mk.1 eyeball. If you have a small bottle with a tight lid, first weigh it empty to get the tare mass, submerge it in the water to fill it completely, close the lid and then rinse and dry the outside before weighing it again to get the gross mass. Gross mass - tare mass is the nett mass of the liquid inside. Empty the bottle, make sure you get all the drops out or dry the inside somehow and repeat with the wort.
As the volumes should now be identical and at 20°, you can use the simple mass sample/mass water you suggested first.