Inter-Dimensional Portal

An Inter-dimensional portal is a portal, door or gateway that connects one area of the multiverse to another, created through either science or the mystic arts.

The asters of the Mystic Arts has the ability of opening these portals using Sling Rings and much practice. Other people have also been known to create these portals using either science or other types of magic.

Discovery of the Multiverse
Sorcerer Supreme Agamotto became at some point the first known human to learn about other dimensions. He dedicated his life to protecting the Earth realm from extra-dimensional threats using magic.

At some point in history, the Masters of the Mystic Arts discovered a way to open portals using Sling Rings.

The Rotunda of Gateways
The Rotunda of Gateways is a device inside the New York Sanctum with portals within three doors that lead to various locations on Earth. This object was used throughout history to spread the sorcerers' influence around the world.

Interdimensional Rift caused by Isodyne Energy
During the 1940s, Humans began experimenting with nuclear energy; during one such experiment performed by Isodyne Energy, a rift was created where a substance dubbed Zero Matter entered this dimension. Eventually, the scientists Whitney Frost and Jason Wilkes became infected with the substance. Frost actively sought more of the Zero Matter and reopened the rift; however Wilkes entered the opening. Upon his return, he described his experience in another dimension outside the Earth realm.

The Darkhold
The Darkhold is a book that allows the reader to build the things they want the most. The book is made of Dark Matter. Using this book the android Aida was able to build an Inter-Dimensional Gate. This gate was then used to rescue agents Phil Coulson and Leo Fitz who was trapped in another dimension.

This device was later used by Robbie Reyes as he returned after spending very long time in the other dimension hunting down his uncle.

Ghost Rider's Return to Hell
After helping S.H.I.E.L.D. killing Aida, Robbie Reyes returned to hell by opening a inter-dimensional portal using his Hellfire Chain.

Trivia

 * Wormholes created by either the Bifrost or other means like the Monolith or the Tesseract shares a lot of functions with some of the inter-dimensional gates listed here. The difference is a wormhole can only create a "short-cut" between places inside the universe and not to other dimensions.
 * Ant-Man was able to travel to another dimension without using a portal. He shrunk until he caught a glimpse of the Quantum Realm.