While I am not a tax advisor, I don't think you have much to worry about in the US as far as tax liability.
There shouldn't be any tax on the initial gift/estate because there's an exemption for transfers on death on amounts up to 1.5million.
The income from interest is taxable, but if it is their only source of income it is likely so small as to prevent them from having tax on it.
Check out more info on the estate tax here:
http://www.irs.gov/businesses/small/article/0,,id=98968,00.htmlThey may have a duty to file a tax return, but if they are low earners and paying tax in the UK then their income is likely exempt anyway. (Foreign earned income exclusion or the tax treaty would support this.)
In short, even if they DO have to file for previous years, it is unlikely that they had tax liability in the states and therefore there aren't any big penalties. You might want to have them give the IRS a call, especially your daughter, who may have more reason to look into the tax implications of her work performed while here.
Good Luck!