Not exactly fantasy and definitely not historical but the Megaman Legends games are pretty RPG-like without being full on RPG or totally sandboxy like other not-RPGs. Granted, it is pretty actiony, but as long as you remember to jump strafe everything vaguely threatening, you'll be fine.
Also while I know that everyone here considers it to be full on RPG, I do think that Vagrant Story is esoteric enough to also be considered not a straight RPG. It's pretty actiony and definitely has a historical fantasy thing going for it.
If you're not restricted by age, then The Guardian Legend is cool beans. Granted it's sci-fi and also part side-scrolling shooter but it has the usual RPG accoutrements including weapon and life upgrades and so on.
Additionally either of the old Kid Icarus games are basically RPG platformers (collect hearts to buy shit, upgrade your weapon with power and attributes, use hammers to find secrets, map out dungeons, and go on the run from your creditors for maxing out your credit card and refusing to pay back the hearts you owe). Plus they're at the very least historical fantasy based.