Denise Richards and Charlie Sheen's Daughter Lola Says She Is Born Again Since Her Baptism at 19 and Jesus Is Her 'Best Friend' (Exclusive)

In this week's PEOPLE, Sami and Lola Sheen, the daughters of Denise Richards and Charlie Sheen, share what family life is really like.

"We couldn't be more different," says Sami, 20, who has an OnlyFans page. Notes Lola, "We are just walking in completely different paths of life and that's okay."

Now, as Richards and her three daughters, including their younger sister, Eloise, 13, launch their family's new Bravo reality series, Denise Richards & Her Wild Things, fans will get to see the sisters' relationship up close.

“What's funny is they are very different," says Richards, 54. "Sami and Lola are 15 months apart...but there's a lot of similarities. And I tell the girls too, they are more similar than they think and they probably won't realize that until they're much older."

In January, Lola announced that she got baptized, after she "found Jesus a year ago." She shares more about that transformative experience in this week's PEOPLE cover story.

"I can't explain it other than it literally was supernatural," she says. "Jesus rescued me and he completely rewired my mind. He became my Savior, but also my best friend."

Lola says she found the spiritual path through an influencer named Ali Yoast, who "posted this video talking about Jesus when I was in a hard time," she recalls.

At the time, she'd been experiencing anxiety and depression. "I was really, really struggling mentally," she says, but she found a Christian church service that focuses on youth and the experience, she adds, "changed my life."

"Right when I stepped foot in this church, I was like, 'Oh my gosh, I want to be here every day of my life,'" she says.

Her mom baptized her three daughters "when they were babies," Richards says. "They went to Catholic school in Malibu for a lot of their elementary years." But this time, Lola made the decision herself. And her mom adds, "I'm so supportive of Lola."

After Lola witnessed a baptism at one of the church services, she decided to make the same commitment. "Two weeks later, I ended up getting baptized," she says. "I have such a good community now."

On Jan. 3, she shared a video of the occasion on Instagram and cited Psalm 91:14 in the captioned: "The Lord says, I will rescue those who love me. I will protect those who trust in my name."

A more faith-based life has helped her find a new positivity. "He [Jesus] gave me a light, when I couldn’t find my own, and rescued me from the darkness," Lola wrote in a post. "I now find myself laughing again, in places I only had cried."

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"I chose to get baptized at the beginning of this year, because I made it through this year only by the strength of Jesus," she added. "I am forever saved by His Grace, through faith."

Now, Lola is continuing to share her message and launching the Heavenly Bonded podcast. She also shared her full testimony story on Heavenly Bonded's official YouTube channel.

Denise Richards and Her Wild Things premieres with two back-to-back half-hour episodes on Tuesday, March 4 on Bravo.