In Terranigma, you can meet and usually help out the following people (this list is by no means exhaustive, just the ones I remember): Sven Hedin, Henri Matisse, John Maynard Keynes, Thomas Alva Edison, Alexander Graham Bell, Wilbur Wright, and of course Cristopher Columbus. Some of them aren't really cameos because they're almost main characters, especially Columbus.
A Dalai Lama figure is also key to the whole plot, but I don't know if he counts since he's named after the Napalese for "young pre-pubescent girls
[worshipped] as manifestations of the divine female energy or devi in Hindu religious traditions" (yup). The other characters I mentioned have their names intact, although often with funky spellings due to slight mistranslations and/or purposeful kana obfuscation in the original game.
I don't remember Magallanes at all, though. Maybe you mixed him up with Columbus?