How do I get out of this car loan?

On Sunday, November 18th, 2018 my daughter went with a friend to supposedly co-sign for her to help her get a car. It turns out that my daughter did not know at all what she was getting into, she gets there signs some papers and later on, she started to feel uncomfortable about the whole situation and tells me about it. Well to make a long story short, the car was put under her name and now it's her car. We met with the dealer last Friday, November 23rd, 2018, we explained to him what happened, the salesman that made the transaction, didn't know that my daughter did not have a job, she's not on maternity leave, though she's expecting, she was not working so she's not on maternity leave, the friend told him this and he didn't verify. Now the manager is not willing to work with us and pretty much says we are stuck with the car. We cannot afford the car. What can we do?