Cascade by Lisa T. Bergren

In the first book of the River of Time series, two bored American sisters stumble on a door to the past, where Gabi is rescued by a handsome knight who vows to love her forever. But there is a rival for his affections, and the girls flee into the present to escape.

Now lovestruck Gabi persuades Lia to help her return, even though she knows dangers abound in medieval Italy, including an entire city who seeks revenge. But Marcello awaits, and Gabi must decide if she's willing to leave her family behind for love.