Astarotte's Toy(2011)

Astarotte no Omocha!

While job hunting, Naoya is taken by a mysterious girl to a magical land where he is installed in the harem of the succubus Princess Lotte. Thanks to trauma from her childhood, Lotte hates men and surrounds herself with lots of other women, who all have quirks of their own. In spite of her selfishness, when Naoya learns that Lotte is really quite lonely he agrees to stay in her world ...if he can bring his daughter Asuha with him.

(Source: Anime News Network)