Sands of Destruction, also known as World Destruction. It's not a very well known anime (like at all), but it fits your requirements, and it's the only one I can think of at the moment that does.
•I don't know if kwa "two different worlds" wewe mean metaphorically au literally, but I suppose it counts as both. zaidi so metaphorically though. •Well, there are beastmen who walk and talk, if those count as magical creatures. •The characters are pretty dang cute, in my opinion.
Watch these, you'll upendo them if wewe like magic anime! These have VERY cute characters! Soul Eater The Melancholy of Haruhi Suzumiya FullMetal Alchemist(this one's sad though... It made me cry) Ojamajo DoReMi Pretear Tokyo Mew Mew Sailor Moon Shugo Chara! Hetalia(this one isn't really magic, unless wewe count England and the Flying Mint Bunny, but the characters are adorable and the anime is hilarious!) Mermaid Melody Pichi Pichi Pitch iDOLM@STER(watch it! It has nothing to with magic, but the characters are adorable, and it has the best muziki ever!!!) CardCaptor Sakura Tsubasa Reservoir Chronicles Lucky Star(once again, no magic, but the characters are so cute and Konata is super funny!) Ouran High School Host Club(again, no magic unless wewe count the Black Magic Club and Nekozawa-senpai, but it's so cute, the story is amazing, the characters a cute and funny, and the plot line is awesome) Princess Tutu(this anime is definitely magical. Ballet, moyo shards, evil authors coming back from the dead, psycho ravens controlling teenaged girls, how good can it get?)