There is, actually, a lot of Who-based print stuff. I knew Doctor Who from the novelisations (of the old show) before I got to really know the TV show. (Which surely makes my Who affections less camp-based than those who watched it back in the day.) And there have been comic-strip adventures pretty much from the beginning.
Fritz Leiber wrote a series of “Change War” stories, though it was about people fighting to change the past, not visit it, and I don’t think there were any recurring characters.
Quatermass sorta evokes the “TARDIS Broken / Stuck on Earth” Doctor Who era.
Or rather the other way around. The Daemons is a pretty direct steal from Quatermass And The Pit.
The Stranger was something of an oddity, almost an unofficial continuation of Doctor Who: essentially fanfic with a full-blown budget and a lot of the original Who cast, including 6th Doctor Colin Baker as “The Stranger”. It ought to have been dreadful, it was actually rather good. Still available on DVD, I think.