Scion of Murgen (He/Him)
No official ones, that I can think of, although some of Gary's old Greyhawk modules and scenarios specifically involved cross-world travel. Apparently D&D adventurers visiting our Earth wasn't super rare. Dragon Magazine #100 had The City Beyond the Gate, which sends the PCs to modern London, England.Which is weird, now that i think about it, considering how common crossworld fantasy is. Are there any explicitly crossworld settings for D&D (any edition), official or 3rd party?
But I can't think of any adventures or settings in which the PCs are Earth people visiting a fantasy world. Despite indications that Dave Arneson's Blackmoor game may have actually started that way.