gewillig in English:

She helped me willingly.

Far from hesitating, she willingly offered to help me.

I'd willingly go across the scorching desert if I had a chance. Chętnie przeszedłbym/przeszłabym przez piekącą od słońca pustynię gdybym miał/miała możliwość.

I can't willingly throw you into another man's arms.

She would willingly come but she was on vacation.

Those who have been once intoxicated with power, and have derived any kind of emolument from it, even though but for one year, never can willingly abandon it.

She willingly acceded to my request.

A true German can't stand the French, yet willingly he drinks their wines.

I willingly join the Chinese Communist Party.