I do not believe that a formal “Declaration of War” was ever issued in the Barbary pirate wars, either, but they were supported by the Congress.
I suspect that many of the Indian wars never had a formal declaration of war either. Please let me know if you find any.
The Constitution does not require those particular three words -- War Resolution, Authorization for the Use of Force, Order to Kick Butt would all work as well, so long as Congress approves them.