How does my daughter sign over sole custody to me the grandmother

To accomplish the transfer of custody a "friendly" custody action can be filed outing the parties' agreement.  Court approval will be required.  Filing a custody action will likely require the services of an experienced family court attorney.  Consider consulting with an attorney in your area to discuss how this process can be facilitated and expedited.  You will need to place the child's father on notice of the action, obtain his consent, or seek the court to grant custody despite the father's objection or lack of participation after notice