Jikuu Mahou de Isekai to Chikyuu wo Ittari Kitari

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?

(Source: Natsu TL)