The difference between Kant and the Stoics is sharp. Kant thinks you can act without desire from pure reason alone.
The Stoics believe you should moderate your desires until they comport with reason. You still act out of desire but desire in line with virtue.
Kant, by dividing humans between their desires and virtue has unfortunately created an unnecessary dualism of the human being.
The Stoics avoided dualism making humans purely material monistic beings.
“Virtues are dispositions not only to act in particular ways, but also to feel in particular ways. To act virtuously is not, as Kant was later to think, to act against inclination; it is to act from inclination formed by the cultivation of the virtues.”
Alasdair MacIntyre, After Virtue (1981), p. 149.