What I do is to send the messages out as part of the page, dropped into hidden <span>
tags with "id" values made from the property names.
Alternatively, you could write an Ajax-called action and fetch the properties dynamically.
To do an ajax callback, you'd have to implement a server-side action that would understand something like the property key. The server would just apply the localization (ie look up the property in the locale associated with the session) and then return the string. Alternatively, you could implement a service that'd return a whole set of properties, maybe on a per-form basis, or grouped according to some convention of property names (like, "return all properties that start with 'validation.addressForm'")
The simplest case would look something like this with jQuery:
$.get('/fetchProperty', { property: 'firstNameMissing' }, function(propValue) {
$('#errMsg').text(propValue);
}, "text/plain");
Other frameworks provide similar ajax tools, or you could do the XMLHttpRequest yourself.