Mishneh Torah — Positive Mitzvot מצוות עשה, Chapter 196
The full Hebrew text of Mishneh Torah, Positive Mitzvot, Chapter 196, with English translation by Maimonides (Rambam).
להעניק לעבד עברי, שנאמר: "הענק תעניק, לו" (דברים טו,יד); וכן אמה עברייה.
To give a severance gift to a Hebrew servant, as [Deuteronomy 15:14] states: "You shall surely give him gifts...." Similarly, [this gift is given] to a Hebrew maidservant.