According to people who worked on the 'HIStory' album, Michael Jackson did not record his solo version of the 'Willing And Waiting' song.
These people also say that 'Willing And Waiting' was recorded by Babyface as a vocal guide for Michael Jackson, and the song remained in that state.
It is also interesting that assistant recording engineer Rob Hoffman stated that the high caliber of that song was somewhat of a deterrent for Michael Jackson to later record the track for himself.
Also, Michael Jackson used to drop songs that did not fit the overall theme of a certain album.
This seems to be the case also about all these saccharine, over-sentimental Babyface-produced songs (including 'Willing And Waiting') which did not fit the aggressive theme of his 'HIStory' album.