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If your Firefly MV cameras have no image buffer (and the current specs say so) I think you are never going to achieve a good (say 1ms-level or better) sync if you have them both on the same USB bus and most likely even on separate buses. For a precise sync you need cameras with frame buffer memory - Point Grey has 16 or 32 MB on many of its models.

You say you have a 15 ms (0.015s) sync which almost certainly mean the cameras are read in series. You are never going to achieve a sync better that what the duration of first camera readout will be. You may push this delay time down by choosing a lower resolution (via pixel binning etc.) and thus get higher FPS and faster image readout but that probably will never be around 1ms. Your delay is 15 ms which would point to about 60 FPS.

So long story short - go and get buffered cameras for much better stereo sync.