If you can get the father (or whoever will have custody of her) to agree, then your daughter would be able to visit you in the UK whenever she wanted. It would be best to have a notarized letter from her custodian saying it is OK for her to travel with you to the UK and list the specific dates she will be there (this may be a requirement, I'm not totally sure...but at a minimum this will prevent any claims of her being kidnapped later).
If there is no agreement, I would consult with a lawyer who is knowledgeable in international custody/visitation laws...you will need professional advice on something of that magnitude.
