Can a judge make my kids see their father if they don't want to ?

You should ask the judge to speak to your daughters are over the age of 12.  Many times the court says that its your job to get the kids to see the other parent even if they do no want to.  I know its very hard to do.  If your children are older, ask to have the visitation stopped and ask the judge to speak with them.   You can indicate to the court that there was no prior relationship due to his incarceration.  If you currently do not have a court order requiring visitation, then don't make them go and wait for him to file something asking for visitation.  You can also not send them, and see if he files something to enforce it, and if he does, then ask for the judge to see the children.  Good luck.