Before migrating, my suggestion is to use Data Migration Assistant to perform an assessment of those databases, some adjustments may be needed.
You can use Transactional Replication to migrate to Azure SQL as explained on this article.
You can also use Azure SQL Data Sync to perform a one-way or two-replication between your server on-premises and Azure SQL Database.
Database Migration Service (DMS) allows to perform online migrations with no downtime, but some requirements need to be met like Change Tracking must be enabled or all tables need to have primary keys. See a tutorial here. To use DMS for online migration you will also need to use Azure SQL Premium tiers. Here you will find more information about online migrations.
Finally, you can configure Zone Redundancy or Geo-Replication to create replicas of your Azure SQL databases.