This movie should be at least ten years old. I remember a father and daughter travel on a ship to all sorts of lands like in a fairy tale. They meet all sorts of fascinating creatures like orcs. I remember title being about three words. This was very similar to the 10th Kingdom.
You're describing the 2001 made-for-TV movie "Voyage of the Unicorn"
A professor, grieving for his dead wife, and his two daughters unwillingly journey to a parallel universe of fairy court, marauding trolls, and a prophecy that they will save this nether world. They board the Unicorn, a magic ship manned by elves. In the search for a dragon who will help them fulfill the prophecy, they encounter the Minotaur, Medusa, the Sphinx, an ogre, and a unicorn whose tears they need to reverse one of Medusa's misguided stares. The trolls also seek the dragon. Capture and slavery awaits failure, while faith precedes the miracle. The spirit of their mother is close to the girls, who must find courage and imagination, while Dad must keep his wits.