You could try to protect the primary amines with benzyl chloroformate first. Then use a carbodiimide (like DCC, DIC, or 1-Ethyl-3-(3-dimethylaminopropyl)carbodiimide) to form the ester with the -OH of the carbohydrate. You may need to use a benzotriazole (like HOBT) with the carbodiimide to minimize racemization. The protecting groups are then cleaved by hydrogenation.