The pair, who are employed by the World Food Programme (WFP), arrived in Beijing on Thursday.
North Korea and Malaysia on Tuesday banned each other's citizens from leaving, in a row over the killing of the North Korean leader's half-brother.
Kim Jong-nam was killed with a potent nerve agent at Kuala Lumpur airport.
Malaysia has not directly blamed North Korea for this, but there is widespread suspicion Pyongyang was responsible.