Your second Satoru Akahori show of the 2000s. And your second show designed to sell a trading card game, Monster Collection. It actually pre-dates the Yu-Gi-Oh Duel Monsters show by 3 months.
More typical than Sakura Wars of an Akahori script, this can easily be seen as a direct descendant of NG Knight Lamune & 40, with heroes sent into another world and an over the top, somewhat effeminate villain and his sexy henchwomen.
Saban adapted it for Fox, then it moved to Disney following all that general upheaval. You can get DVDs of it in the UK for 99p in the clearance bookstore chain here.