Found this code snippet here: https://community.oracle.com/thread/3868043
I'm copying the code to here to make sure it's available in the future. Didn't test it, need to make sure it works well:
public void lookAt(Point3D cameraPosition, Point3D lookAtPos) {
//Create direction vector
Point3D camDirection = lookAtPos.subtract(cameraPosition.getX(), cameraPosition.getY(), cameraPosition.getZ());
camDirection = camDirection.normalize();
double xRotation = Math.toDegrees(Math.asin(-camDirection.getY()));
double yRotation = Math.toDegrees(Math.atan2( camDirection.getX(), camDirection.getZ()));
Rotate rx = new Rotate(xRotation, cameraPosition.getX(), cameraPosition.getY(), cameraPosition.getZ(), Rotate.X_AXIS);
Rotate ry = new Rotate(yRotation, cameraPosition.getX(), cameraPosition.getY(), cameraPosition.getZ(), Rotate.Y_AXIS);
cam.getTransforms().addAll( ry, rx,
new Translate(
cameraPosition.getX(),
cameraPosition.getY(),
cameraPosition.getZ()));
}