We calculate the form factors for B → π ν and Bs → K ν decay in dynamical lattice Quantum Chromodynamics (QCD) using domain-wall light quarks and relativistic b-quarks. We use the (2+1)-flavor gauge-field ensembles generated by the RBC and UKQCD collaborations with the domain-wall fermion action and Iwasaki gauge action. For the b quarks we use the anisotropic clover action with a relativistic heavy-quark interpretation. We analyze data at two lattice spacings of a ≈ 0.11, 0.086 fm with unitary pion masses as light as Mπ ≈ 290 MeV. We simultaneously extrapolate our numerical results to the physical light-quark masses and to the continuum and interpolate in the pion/kaon energy using SU(2) "hard-pion" chiral perturbation theory for heavy-light meson form factors. We provide complete systematic error budgets for the vector and scalar form factors f+(q 2 ) and f0(q 2 ) for both B → π ν and Bs → K ν at three momenta that span the q 2 range accessible in our numerical simulations. Next we extrapolate these results to q 2 = 0 using a model-independent z-parameterization based on analyticity and unitarity. We present our final results for f+(q 2 ) and f0(q 2 ) as the coefficients of the series in z and the matrix of correlations between them; this provides a parameterization of the form factors valid over the entire allowed kinematic range. Our results agree with other three-flavor lattice-QCD determinations using staggered light quarks, and have comparable precision, thereby providing important independent cross checks. Both B → π ν and Bs → K ν decays enable determinations of the Cabibbo-Kobayashi-Maskawa (CKM) matrix element |V ub |. To illustrate this, we perform a combined z-fit of our numerical B → π ν form-factor data with the experimental measurements of the branching fraction from BaBar and Belle leaving the relative normalization as a free parameter; we obtain |V ub | = 3.61(32) × 10 −3 , where the error includes statistical and all systematic uncertainties. The same approach can be applied to the decay Bs → K ν to provide an alternative determination of |V ub | once the process has been measured experimentally. Finally, in anticipation of future experimental measurements, we make predictions for B → π ν and Bs → K ν differential branching fractions and forward-backward asymmetries in the Standard Model.