The jamming transition is an important feature of granular materials, with prior work showing an excess of low-frequency modes in the granular analog to the density of states, the granular density of modes. In this work, we present an experimental method for acoustically measuring the granular density of modes using a single impact event to excite vibrational modes in an experimental, three-dimensional, granular material. We test three different granular materials, all of which are composed of spherical beads. The first two systems are monodisperse collections of either 6 mm or 8 mm diameter beads. The third system is a bidisperse mixture of the previous two bead sizes. During data collection, the particles are confined to a box; on top of this box, and resting on the granular material, is a light, rigid sheet onto which pressure can be applied to the system. To excite the material, a steel impactor ball is dropped on top of the system. The response of the granular material to the impact pulse is recorded by piezoelectric sensors buried throughout the material, and the density of modes is computed from the spectrum of the velocity autocorrelation of these sensors. Our measurements of the density of modes show more low-frequency modes at low pressure, consistent with previous experimental and numerical results, as well as several low-frequency peaks in the density of modes that shift with applied pressure. Our method represents an experimentally simple technique for investigating the granular density of modes and may increase the accessibility and number of such measurements.