Tenkuu Senki Shurato

Set in a parallel world called "Tenkūkai", which exists alongside Earth, evil forces known as the Asura Gods threaten to overcome the forces of good, causing the magical leader of this realm to transport warriors from Earth to their world. It was heavily based on Hindu and Buddhist mythology, and covered a range of topics, including brotherhood, reincarnation, camaraderie, inter-dimensional travel, destiny, and spirit magic.

(Source: Wikipedia)