Jointly owned property with rights of survivorship is not part of the deceased person's estate for probate as long as the other joint owner is still alive at the time of one owner's death.
In Florida, you can have a deed say it is transfering to the two of you as joint tenants with right of survivorship and the effect will be the surviving owner automatically gets title to the whole property interest and it will not be property of the estate for probate purposes.
In Florida, a transfer to a husband and wife (that says nothing about JTWROS) is deemed to be a tenancy by the entirety. That is much like joint tenancy with right of survivorship including that title passes automatically to the survivor and thus is not deemed estate property of the deceased. It differs from JTWROS in that it has more complete spousal protection -- for example, one cannot transfer his or her interest in the property to another without the spouse also doing so (with JTWROS one party can transfer his half interest to another without permission of the other owner).
Thus you can accomplish probate avoidance by simply having the transfer be made to the two of you as "husband and wife" with or without saying anything about right of survivorship. Moreover, if the transfer is to a husband and wife, it is presumed to be a transfer by the entirety even if you do not use the words husband and wife and as long as you do not expressly specify another form of transfer, e.g., such as JTWROS. Or you can make the transfer to the two of you as joint tenants with right of survivorship which is somewhat less protective of a spouse than tenenacy by the entirety.
In your particular case because you apparently also are sticking your daughter on the deed (something I usually do not recommend), you can create confusion unless you specify type of ownership. Thus, you can use JTWROS if you want all three to have joint ownership with right of survivorship. You should be aware by doing so that if your daughter ever has creditors come after her they will be be able to put a lien on her portion of the property interest and force its sale. Moreover, if your daughter marries, her husband may be able to claim rights in any property interest she has, including upon divorce.
You should note that avoiding probate does not mean you also avoid estate taxes on the state or federal level. That depends on tax laws and applicable exemptions which apply at death regardless of whether property is subject to probate.