Cartoon about a group of teenagers whose souls travel to multiple worlds with monsters

I believe you're looking for Chaotic.

Chaotic tells the tale of a teenage boy named Tom and his friend Kaz. They both play the Chaotic Trading Card/Online Game. Kaz always tries to tell Tom about a secret code to play for real which Tom refuses to believe. While playing online Tom receives the special password. When he enters the password into his game scanner he is transported to a place called Chaotic that is able to take him to another world where the characters, locations and items in the card game came to life.

There are two parts to the Chaotic world, Chaotic itself and Perim. Chaotic is where the people play an advanced version of the card/online game where they transform into the creatures. The games can be watched via monitor by other players.

The second part is Perim. In Perim the creatures, locations and items from the game are real. Players from the Chaotic game can teleport into Perim and scan the locations, creatures and items with their scanners, gaining the ability to use them in their game. There are four tribes in Perim. Two tribes, the Overworld and the Underworld, have been at war over a great power called the Cothica. Despite their names, there is no definite Good and evil tribe, as both have different stories and interpretations of how the war began, with each tribe seeing the other as being evil. The Danians and Mipedians have since joined the war, turning it into a four-way conflict over the Cothica. It is said that the Mipedians were once united with the Overworlders and the Danians united with the Underworlders. It is still unknown why they separated

It is one of the features on Orlando Kids. It has two other worlds, which are accessible by a device that the main character acquires from his friend (well, he already had the device, but got the code from Kaz). They are teenagers. Chaotic has a teleporter to Perim. There are robots on the Chaotic.

And, indeed, their bodies stay on Earth:

When the players are in Chaotic/Perim they exist simultaneously on Earth. When a Chaotic player leaves Chaotic they become one person again and the Earth version of the player gains the memories of anything they experienced in the Chaotic/Perim world. This is awkward the first time they transport, as their online deck is blocked so that their Chaotic self can use it and their scanner becomes non functional, causing many people to believe they have broken their scanners until they are re-united with their Chaotic self.

Intro