A numerically efficient technique is presented for computing the field radiated or scattered from three-dimensional objects embedded within layered acoustic media. The distance between the receivers and the object of interest is supposed to be large compared to the acoustic wavelength. The method requires the pressure and normal particle displacement on the surface of the object or on an arbitrary circumscribing surface, as an input, together with a knowledge of the layered medium Green's functions. The numerical integration of the full wave number spectral representation of the Green's functions is avoided by employing approximate formulas which are available in terms of elementary functions. The pressure and normal particle displacement on the surface of the object of interest, on the other hand, may be known by analytical or numerical means or from experiments. No restrictions are placed on the location of the object, which may lie above, below, or across the interface between the fluid media. The proposed technique is verified through numerical examples, for which the near field pressure and the particle displacement are computed via a finite-element method. The results are compared to validated reference models, which are based on the full wave number spectral integral Green's function.