We study the optimal quantum control of heteronuclear two-qubit systemsdescribed by a Hamiltonian containing both nonlocal internal drift and local control terms.We derive an explicit formula to compute the minimum time requiredto steer the system from any initial sates to final states.The minimal time to implement Controlled-NOT, SWAP and Controlled-U gates are calculated in detail.We investigate the optimal teleportation via two quantum channels.We also present a new protocolof quantum teleportation, which can increasethe fidelity even if bound entangled states are used as the resource channels.Thus the new protocolis essentially different from distillation.