Per Ken Rosenthal of The Athletic and Fox Sports, Schoop agreed to a one-year deal worth $7.5 million plus incentives.
The Brewers non-tendered Schoop on November 30, making him a free agent.
The 27-year-old slashed just .233/.266/.416 last season after earning a .293/.338/.503 line in 2017, when he also hit 32 home runs, drove in 105 runners and was named to his first All-Star team.
Like the rest of the Orioles in 2018, however, Schoop slumped in a Baltimore uniform as his team eventually finished 47-115. He was dealt to the Brewers prior to the trade deadline, but further slumps there pushed him out of the lineup.