If you mean like floating on left/right side of your content while you’re scrolling,
position:fixed; top: some; left: some;
But, if you ask me, this is not good for small screens, because you have two scenarios. First: your icons will cover your content and UX will be 0 points. Second: your content is not covered by your icons but your icons are too small making them “unclickable,” again UX 0.