If you want them on the desktop, put them on the desktop. There is no way to have files on the desktop and not on the desktop. You can use some sort of sync program to sync them if you want, but there's really no way to accomplish what you're asking.
It's also well worth noting that it's generally a bad idea to keep items on the desktop on the Mac. It's intended only as very temporary storage, and keeping multiple items on the desktop, or even in folders on the desktop, will slow down the computer and can lead to file corruption and in extreme cases prevent the computer from booting up fully. I have seen this in 100+ cases, and in each and every case simply moving the contents of the Desktop folder to another location on the computer instantly solved the problems. I would recommend either keeping items you need access to in the Dock (a stack in the Dock sounds like it'd work great for you here), or simply use another method of accessing those files.
jW