Andrew Tremeth, 17, and Simon Deacon, 19, were sent to a young offenders' institute after one of the cars they stole crashed into Michael Robins, 53, as he cycled home from work in Iver, Buckinghamshire.
Reading Crown Court was told that the pair stole a Golf Gti and a Vauxhall Cavalier, racing the cars the wrong way around roundabouts and doing up to 80mph in a 30mph zone.
Tremeth, of Iver, was driving the wrong way round a roundabout when he hit Mr Robins. He admitted manslaughter, taking without consent and driving while disqualified but was given no separate penalty for taking without consent and driving while disqualified.
Deacon, of Hayes, was sentenced to five years for aiding and abetting manslaughter, with six months for taking a vehicle without consent and six months for driving while disqualified, to run concurrently.
He was sentenced to a further four months, making five years and four months, for five other offences of taking without consent and one offence of driving while disqualified.
Both defendants were disqualified from driving for eight years and their licences were endorsed.