We have observed five quasars (0827+243, 0923+392, 1222+216, 1317+520, and 2209+080) with Chandra at 0.2-8 keV and with the VLA at 5 and 15 GHz. The X-ray emission is detected from all the radio jets except for 0923+392, whose double radio jet only extends out to the edge of the X-ray PSF. We model the spectral energy distribution of the jet features assuming that the X-ray emission originates via inverse Compton scattering off the cosmic microwave background by relativistic electrons. For two sources (0827+243 and 1222+216) proper motion on parsec scales is consistent with the Doppler factors derived from the model, which implies that no deceleration occurs between parsec and kiloparsec jets.