Use this formula in the column for description cell on "SHEET B" the only
option that may need to be changed in these formulas is the sheet name, I
have used SHEET1
=IF(ISNA(VLOOKUP(TEXT(A1,"000000"),SHEET1!$A$2:$S$ 5000,2,FALSE)),"",VLOOKUP(TEXT(A1,"000000"),SHEET1 !$A$2:$S$5000,2,FALSE))

Use this formula in the column for ID# on "SHEET B"
=IF(ISNA(VLOOKUP(TEXT(A1,"000000"),SHEET1!$A$2:$S$ 5000,3,FALSE)),"",VLOOKUP(TEXT(A1,"000000"),SHEET1 !$A$2:$S$5000,3,FALSE))