Yonderland.

"Sigh"
The chosen one, a normal British mid 30something house wife, travels to a fantasy world of magic through a portal in her kitchen cupboard, to save the day, week to week, from incredibly low level threats of villainy and skulduggery... Oh, and there are puppets because Yonderland is made by the same people who did the classic Horrible Histories series.
(It's not made for children, but there is nothing in Yonderland a 6 year old can't watch, so enjoy sharing sometime with the kids.)