Data sparsity is one of the most challenging problems for recommender systems. One promising solution to this problem is cross-domain recommendation, i.e., leveraging feedbacks or ratings from multiple domains to improve recommendation performance in a collective manner. In this paper, we propose an Embedding and Mapping framework for Cross-Domain Recommendation, called EMCDR. The proposed EMCDR framework distinguishes itself from existing cross-domain recommendation models in two aspects. First, a multi-layer perceptron is used to capture the nonlinear mapping function across domains, which offers high flexibility for learning domain-specific features of entities in each domain. Second, only the entities with sufficient data are used to learn the mapping function, guaranteeing its robustness to noise caused by data sparsity in single domain. Extensive experiments on two cross-domain recommendation scenarios demonstrate that EMCDR significantly outperforms state-of-the-art cross-domain recommendation methods.