Hagure Yuusha no Estetica |Recommendation|

This Anime has the same feeling to Rosario+Vampire and Outbreak Company. The MC was "summoned" to a different world and later became known as a "Hero" but in the first episode, he accepted the title as the "Rouge Hero". After defeating the Dark Lord Garius, Garius told his daughter to be with the one who defeated him and live with them, but if she finds the person unworthy she may kill them. Ousawa, Akatsuki then takes the daughter, Miu,
 to his own world by the "Otherworld Gate" that are found in various areas in other worlds.