The first step is to have your daughter contact her loan company. While most loans companies allow for loans to be assumed, some don’t. Once she confirms that you can assume the loan, it is just a matter of you filling out paperwork and waiting for the bank’s approval.
If her type of loan doesn’t allow for this, try and get a personal loan under your name. Personal loans can have higher interest rates than car loans, but if approved, you can pay off the balance of your daughter’s car loan. Then you both can work on paying back the personal loan.