The vast majority of muslims surely don't read Charlie Hebdo or similar satirical cartoons - how then can they be offended by them? The offence seemingly lies in society allowing people to hold views contrary to their religion. Even if you kowtow to that desire and implemented sharia in Western Europe there are seemingly enough Sunni and Shia willing to blow one another up that it's not going to prevent violent atrocities in the name of Islam.
I don't understand how such satirising "promotes ignorance and fear" however, can you explain that? Surely the point of satire is cast a critical light on things in order to dispel what the satirist sees as ignorance.
And it's not just "offence" - this type of material promotes ignorance and fear and it marginalises and already marginalised minority.