If your daughter lives with you and you two share an address, your insurance company is probably assuming that she may sometimes drive your vehicle, at which point she would need to be a named driver on your policy. If she has her own car — and doesn't drive yours — it could be possible for you to have her excluded from your policy.
You may be able to find a company that will insure you without a license and you would then list the person who will be driving your car on the policy. If you can't find an insurer that will insure you without a license, then the person who will be driving can get a policy in their name and list you as an excluded driver and additional interest on the policy since you have a financial claim to the car.
There are a couple of things to consider to get insured. Because your sister will own the vehicle, any insurance policy you get will require you list her as an additional interest, just like if you were financing a vehicle.
If your mom will be borrowing a car that she does not own, she needs to be listed as a driver on the owner of the car's insurance policy. A non-owners policy is for someone that may drive occasionally but does not have regular access to a specific vehicle.
Yes, you can add anyone to your insurance policy that will be driving your vehicle or that has regular access to your vehicle. In fact, you're required to add anyone that will be driving your vehicle or any vehicle listed on your policy.
Car Insurance Costs
You really should just be added to his policy. It is typically cheaper than having your own policy plus if your dad drives the car, he would need to be listed on your policy.