Jikuu Mahou de Isekai to Chikyuu wo Ittari Kitari

Jikuu Mahou de Isekai to Chikyuu wo Ittari Kitari (時空魔法で異世界と地球を行ったり来たり) is a light novel series by Katsu with illustrations by DSmile.

Plot
Though he received the skill to teleport to another world, the attitude of the king was annoying so he kidnapped the princess and returned to Earth. While traveling between the other world and Earth with the skill he received, together with the kidnapped princess and his little sister, the 3 lived happily ever after?