I think the best time to visit Rajasthan would be November to March.
The temperature is good to roam around in daytime and enjoy the beautiful forts and architectural structures.
You can plan a stay in Jaipur and Udaipur. You can book a lakeside hotel in Udaipur overlooking the pichhola lake and uncover the hidden treasures of the city including bandhni, handcrafted and laakh work.
Simultaneously you can increase your stay and visit Jaisalmer and enjoy the great desert festival and safaris.
Do not miss the delicious Rajasthani cuisine.
All the best