Magical Princess Minky Momo: Hold on to Your Dreams (1991)

The sea kingdom of Marinarsa, home of all the fairytale characters, used to be a part of the Earth but drifted away, because people on the planet lost their dreams and hopes. The king and queen decide to send their only daughter, Minky Momo, back to Earth to help humans dream again. Momo has three animal friends that help her and a magic wand to transform into a grown up lady when she needs it. Every good action she takes brings Marinarsa closer to Earth.