Mahou no Princess Minky Momo

Both include magical girls who transform into older girls. 

Pink-haired magical princesses from outer space come to Earth with a certain mission, but instead spend most time goofing around and having fun. Both girls have a squat king and a tall beautiful queen as parents, and the dynamics between them are very similar. Momo magically brainwashes a family of earthlings into believing they're her parents, while Comet finds a homestay family fair and square (her rival Meteo resorts to brainwashing). Also, Momo finds adventures all around the world while Comet stays in the same town.