Mushoku Tensei: Isekai Ittara Honki Dasu

A 34-year-old virgin NEET who is kicked out of his house when he runs out of money. He's regretting his life when he's suddenly killed in a traffic accident, and he's reborn in another world full of swords and sorcery. As a newborn baby, he resolves to live his life without regrets and make the best of his knowledge from his previous life. While developing his skills in magic, he meets a small girl who is a magic tutor, and a beautiful quarter-elf with green hair. (from manga)