This is how I interpreted the poem, which I'm pretty sure is a somewhat standard way of reading it. As with any piece of art, everyone will get something different from it... Hope this helps though
Answer:
Tiger that is a bold color,
in the woods in the middle of the night;
what god or maker
could have painted your stripes?
In what far away place
did the beauty of your eyes form?
What divine being
put your soul inside of you?
Did your creator have a physical form
to mold your personality?
When you came alive,
were there hands and feet?
With what tools
was your brain created?
What is the process
to make a beautiful tiger?
When Satan rebelled against God,
the other angels cried.
Did you see a smile?
Were you made by the same entity as Jesus?
Tiger that is a bold color,
in the woods in the middle of the night;
what god or maker
could have painted your stripes?