The floating kingdom known as Rakuga Kingdom is facing a problem: it is starting to fall down to earth because of its depleting energy. To gain more energy, the kingdom forces human to scribble, as scribbles are the only thing that will give the kingdom enough energy to float again. When Shin Chan gets his hands on a magical crayon, which can make any doodle come to life, he decides to use it to save his hometown Kasukabe by helping Rakuga Kingdom gain its energy back. He does so by teaming up with the doodles he creates, calling themselves the "Almost Four Heroes".