aslında olay position ile konumlandırıp :hover olunca göstermekten ibaret. Şöyle bir html yapın olsun;

<nav class="sticky-menu">
	<ul>
		<li>
			<a href="#">
				<span class="title">Homepage</span>
				<span class="icon">
					<i class="fa fa-home"></i>
				</span>
			</a>
		</li>
		<li>
			<a href="#">
				<span class="title">About us</span>
				<span class="icon">
					<i class="fa fa-user"></i>
				</span>
			</a>
		</li>
		<li>
			<a href="#">
				<span class="title">Youtube</span>
				<span class="icon">
					<i class="fab fa-youtube"></i>
				</span>
			</a>
		</li>
		<li>
			<a href="#">
				<span class="title">Contact</span>
				<span class="icon">
					<i class="fa fa-envelope-open"></i>
				</span>
			</a>
		</li>
	</ul>
</nav>

css'inde şöyle olacak

/* genel sıfırlama */
* {
  padding: 0;
  margin: 0;
  list-style: none;
  border: none;
  box-sizing: border-box;
  text-decoration: none;
  font-family: Arial, sans-serif;
}

.sticky-menu {
  position: fixed;
  top: 50%;
  right: 10px;
  transform: translateY(-50%);
}
.sticky-menu ul li {
  margin-bottom: 10px;
}
.sticky-menu ul li:last-child {
  margin-bottom: 0;
}
.sticky-menu ul li a {
  position: relative;
  display: block;
}
.sticky-menu ul li a .title {
  height: 40px;
  padding: 0 65px 0 25px;
  position: absolute;
  top: 0;
  right: 0;
  background: darkorange;
  display: flex;
  align-items: center;
  border-radius: 20px;
  opacity: 0;
  visibility: hidden;
  transition: 150ms all ease;
  font-size: 14px;
  color: #fff;
  white-space: nowrap;
}
.sticky-menu ul li a .icon {
  display: flex;
  width: 40px;
  height: 40px;
  align-items: center;
  justify-content: center;
  background: #eee;
  border-radius: 50%;
  position: relative;
  z-index: 1;
  color: darkorange;
  transition: 150ms all ease;
}
.sticky-menu ul li a:hover .icon {
  background: darkorange;
  color: #fff;
}
.sticky-menu ul li a:hover .title {
  opacity: 1;
  visibility: visible;
}

çalışan demo: https://codepen.io/recephp/pen/abWpWro