The easiest way to perform a synchronization between multiple devices is using the same sync-account and add it to the Android system settings of your devices (normally under → Accounts and Sync). While adding the account to your Android device, please make sure that you set a checkmark behind → Sync calendar (here some more detailed information on how to add an account for sync).
After a short first synchronization everything should be available on all devices, if they have a consistent internet connection. Please also check if the Auto-Sync feature has been enabled on the devices. You can find detailed instructions here.