Sorry, thought you wanted to avoid the clutter at their feet.
Find the script that makes the Follower drop what they won't wear, like Boone with the Legion Armor and see what that has in it.
That's the closest to the effect your looking for.
Also, if you look at your character in third person, the items may appear to be dropping from waist level, which is where the followers start to drop their stuff from, so it could be that there is no one command to do this
What you would have to do then is you something like at placeatme (or whatever the script equivalent is) with the 3 variables for X,Y,Z. X and Y will be how far the item is from the NPC, and Z will be how high off the ground. You will still have to use the removeitem command to get it out of inventory, then your going to spawn the item in thin air in front of the character with the placeatme command. Then hopefully it drops on the ground and just does not hang there.