German Science Reader by Charles Frederick Kroeh is a book on learning scientific German. However, I learn better aurally. What are some good audio resources for learning scientific German?
If what you mean by scientific German is the German Bildungssprache, a recorded lecture in any subject will be an ideal resource. There is a website which offers MOOCs in German and I am sure you can find more resources of this kind. If you don't care about the content and just want a lot of very beautiful, sophisticated and precise German, I recommend podcasts in the legal disciplines (for example from LMU Munich). In my view, German legal vocabulary is where beauty and precision are most concentrated, and the discipline is less prone to loanwords so that what you learn is originally German most of the time, which is not the case in the vast majority of other sciences.
If, however, you mean scientific terminology in a strict sense, a very substantial part of that is based on Latin and Greek and thus quite similar across languages ("Homoscedasticity", "Homoscédasticité", "Homocedasticidad", "Homoskedastizität" etc.) and it would be best to look for a book on the etymology of scientific terminology.