Yes, you need to place a door on both maps – one on the map you want to teleport from and one to the place on the other map you want the player to teleport to. Just place an invisible door if you don’t want the door to be seen. Then look what the doors and your maps are named and select those at the door properties. For that, select the little cogwheel and click on the door you placed somewhere on the map; on the left side of your screen are the door properties. You can select any event (doors, actors, enemies) by using the little cogwheel and edit them!
I hope that answered your question.
Okay, maybe you already knew most of these infos, but I didn’t know, what you already can do… So sorry if I explained too much! ^^