We present Quantum Monte Carlo calculations of magnetic moments, form factors, and densities of A≤10 nuclei within a chiral effective field theory approach. We use the Norfolk two- and three-body chiral potentials and their consistent electromagnetic one- and two-nucleon current operators. We find that two-body contributions to the magnetic moment can be large (up to ∼33% in A=9 systems). We study the model dependence of these observables and place particular emphasis on investigating their sensitivity to using different cutoffs to regulate the many-nucleon operators. Calculations of elastic magnetic form factors for A≤10 nuclei show excellent agreement with the data out to momentum transfers q≈3 fm−1.