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Miley Cyrus is God's gift to twerking ... at least according to the Ying Yang Twins who wrote an entire song about her booty-shaking greatness -- and TMZ has the track.

Kaine and D-Roc tell TMZ, they were inspired to make a tune in Miley's honor after learning she was a fan via Twitter -- and due to her transition from Disney princess to a derriere-popping powerhouse.

They tell us, "Our fans have been starving for some authentic twerk music. Seeing that Miley Cyrus wants to show the world she is grown by twerking, we decided to give her a little help."

You can listen to the lyrics yourself, but here are a few gems:

Do the Miley Cyrus rock wit it

Wiggle wiggle jiggle jiggle shake that s**t

All the n***as saying can she take that d**k?

Freaky b****es shakin ass on the pole

Do the Miley Cyrus b***h and get low

Miley Cyrus, ooh she wildin'

The way she shake her ass keep a n***a smiling'

With her camel toe she steal the show

Put her p***y in yo face like a freaky ho