Charles Wilkins's 1785 edition of “The Bhagvat-Geeta, or Dialogues of Kreeshna and Arjoon” is widely credited as being the first text of the Bhagavad-Gita to be directly translated from Sanskrit to English.
Surprisingly great translation. It has the character of a Platonic dialogue rather than that of a poem. Since it is the first translation and one of the first English language primary texts of Hinduism, it assumes you know little and does a fine job explaining the Gita's theology. The occasional Sanskrit theological concept is left as-is due to translatability, however it doesn't interfere with readability. Mad respect to Wilkins for being one of the first Brits to learn Sanskrit!