Two-dimensional layered semiconductors have recently emerged as attractive building blocks for next-generation low-power non-volatile memories. However, challenges remain in the controllable sub-micron fabrication of bipolar resistively switching circuit components from these novel materials. Here we report on the scalable experimental realisation of lateral on-dielectric memtransistors from monolayer single-crystal molybdenum disulfide (MoS₂) utilising a focused helium ion beam. Site-specific irradiation with the probe of a helium ion microscope (HIM) allows for the creation of charged defects in the MoS₂ lattice. The reversible drift of these locally seeded defects in the applied electric field modulates the resistance of the semiconducting channel, enabling versatile memristive functionality on the nanoscale. We find the device can reliably retain its resistance ratios and set biases for hundreds of switching cycles at sweep frequencies of up to 2.9 V s^-1 with relatively low drain-source biases. We also demonstrate long-term potentiation and depression with sharp habituation that promises application in future neuromorphic architectures. This work advances the down-scaling progress of memristive devices without sacrificing key performance parameters such as power consumption or its applicability for synaptic emulation.