Kant has argued in his Groundwork for the Metaphysics of Morals that a practical law must be devoid of all (empirical) content and contain "only the form of a law".
The whole argumentation can be read step by step in this answer of mine.
Thus, given the contents of the faculty of desire are empirical, they cannot give practical laws. The question remains why they are empirical. Here, one has to read carefully since it says
an object (matter) of the faculty of desire
The second critique is all about why the moral law itself is the only 'object' (and only of practical reason in a very peculiar, unique sense) that is given to man not from the outside, through the senses (thus empirically). Hence, every object given to the faculty of desire is, in his philosophy, empirical by definition.