It is likely that you will need to have your 22 year old daughter sign the title of her car over to you or your other daughter if she is handing over the ownership of the vehicle. This will allow you or your daughter to be the owner of the car and thus can register and insure it.

If the daughter that is receiving the car is a minor, under 18, you will likely need to also sign paperwork with her since documents such as an insurance policy is a legal contract and minors generally are not allowed to enter into a binding legal contract without a parental signature as well. To obtain your Florida insurance get a cheap car insurance quote.