This paper presents a sub-millisecond iSWAP gate between individually trapped NaCs molecules, demonstrating high-fidelity entanglement and quantum gate operations. The gate is implemented using the intrinsic dipolar interaction between rotational states of the molecules. By tuning the polarization of the traps, the strength of the dipolar interaction is controlled, allowing for the creation of a maximally entangled Bell state with a fidelity of 94(3)%. The fidelity is limited by motion of the molecules along the axial trapping direction, which is probed using motion-rotation coupling. The axial ground state fraction is determined to be 32(5)%. The interaction is toggled by transferring between interacting and non-interacting states, enabling the realization of an iSWAP gate. The gate is verified by measuring its logical truth table, showing high fidelity. The results establish multi-level molecules as a viable resource for universal quantum computation and advanced quantum simulations. The paper also discusses the potential for future improvements, including the use of active microwave amplitude stabilization and polarization control to reduce leakage errors. The study highlights the potential of molecular qubits for quantum information processing, leveraging their long-lived coherence and strong couplings. The work demonstrates the feasibility of using ultracold polar molecules as a platform for quantum computing, with the potential for scalable and fault-tolerant quantum systems. The results are significant for the development of quantum technologies, offering new opportunities for quantum simulation and metrology based on spin-motion entanglement.This paper presents a sub-millisecond iSWAP gate between individually trapped NaCs molecules, demonstrating high-fidelity entanglement and quantum gate operations. The gate is implemented using the intrinsic dipolar interaction between rotational states of the molecules. By tuning the polarization of the traps, the strength of the dipolar interaction is controlled, allowing for the creation of a maximally entangled Bell state with a fidelity of 94(3)%. The fidelity is limited by motion of the molecules along the axial trapping direction, which is probed using motion-rotation coupling. The axial ground state fraction is determined to be 32(5)%. The interaction is toggled by transferring between interacting and non-interacting states, enabling the realization of an iSWAP gate. The gate is verified by measuring its logical truth table, showing high fidelity. The results establish multi-level molecules as a viable resource for universal quantum computation and advanced quantum simulations. The paper also discusses the potential for future improvements, including the use of active microwave amplitude stabilization and polarization control to reduce leakage errors. The study highlights the potential of molecular qubits for quantum information processing, leveraging their long-lived coherence and strong couplings. The work demonstrates the feasibility of using ultracold polar molecules as a platform for quantum computing, with the potential for scalable and fault-tolerant quantum systems. The results are significant for the development of quantum technologies, offering new opportunities for quantum simulation and metrology based on spin-motion entanglement.