Florida law states that if you are in the state for over six months of the year, you need to register and tag the vehicle there. To do so, you will require PIP (as Florida is a no-fault state) and liability insurance.
While it can vary by your insurer, I would recommend getting your daughters' their own policy and simply paying the bill. Because you own the vehicles, you should be added as the additional interest to the policy.
The vehicle will need to be insured in the state where it is driven, so you have 1 of 2 options. You can have your daughter added as a co-owner of the vehicle and she will be able to register and insure the vehicle in her name, in the new state.