Sono Mukou no Mukougawa

Futaba, a boy that has grown up in an overprotected family, suddenly finds himself on the other side of the world, where he meets Kiara, the Amaranthine. They journey to find Kiara's true master, and along the way they meet a curious cast of characters, including the wizard Belbel and the prince Virid.

(Source: Tokyopop)