Depending upon the number of people, the context and the speaker, the words for "I want to be with you" in Spanish are:
Quiero estar con usted / ustedes / vosotros, as / vos.
But refering to "tú", one person, familiar style:
Quiero estar contigo.
There really is no direct way to use the term "wanna". You just have to use the full phrase "I want to".
Deseo permanecer con usted / ustedes.
Deseo permanecer contigo / con vosotros, as.
Quiero estar con tu.
To say 'I want meat' in Spanish, you would say 'Yo quiero carne.'
"I want to sleep" would be "Quiero dormir".
I want = Quiero
'Do you want a treat' in Spanish is ¿Quieres un regalo?'.'
To say 'I want a notebook' in Spanish, you would say 'Quiero un cuaderno.'
To say 'I want a chair' in Spanish, you would say 'Quiero una silla.'
To say 'I want meat' in Spanish, you would say 'Yo quiero carne.'
To say 'I want bread' in Spanish, you would say 'Yo quiero pan.'
To say 'I want paper' in Spanish, you would say 'Yo quiero papel.'
To say 'I want cereal' in Spanish, you would say 'Yo quiero cereales.'
To say 'I want to eat a carrot' in Spanish, you would say 'Yo quiero comer una zanahoria.'
"I want to sleep" would be "Quiero dormir".
querer- to want
I want = Quiero
To say 'I want some folders' in Spanish, you would say 'Quiero unas carpetas.'
"What do you want to do?" Say "Que quieres hacer?"
To say 'I want to eat flan' in Spanish, you would say 'Yo quiero comer flan.'