In an interview with the Times, the singer discussed alleged abuse between the two men and the deceased pop star, claiming the pair were “thrilled” to spend time with Jackson.
Ms Streisand said she “absolutely” believed Jackson sexually abused the two men as boys, following claims made in an explosive documentary, Leaving Neverland.
She told the newspaper: “His [Jackson’s] needs were his sexual needs, coming from whatever childhood he has or whatever.
“You can say ‘molested’, but those children, as you heard say, they were thrilled to be there. They both married and had children, so it didn’t kill them”.
The Michael Jackson estate has strenuously denied any allegations of wrongdoing.
James Safechuck and Wade Robson appeared in the documentary Leaving Neverland and alleged in graphic detail that Jackson abused them.
They both said they were young boys when the pop singer invited them and their families to his Neverland ranch where he is alleged to have carried out the attacks.
The film was met by a furious reaction by the Jackson estate, which denied the allegations and lambasted the documentary as "an outrageous and pathetic attempt to exploit and cash in" on the superstar.
When Ms Streisand was asked if she felt anger towards Jackson, the Oscar-winning actress said: "It's a combination of feelings. I feel bad for the children. I feel bad for him. I blame, I guess, the parents."
The 76-year-old’s comments were met with fury on social media, with Leaving Neverland director Dan Reed tweeting: “It didn’t kill them @BarbraStreisand, did you really just say that?”
Journalist Alexander McCall added: “Barbra Streisand's comments on Michael Jackson's accusers are... outrageous and perplexing to say the very least.”