Do you know if this will be enough to qualify to cosponsor my daughter?

Yes, you would qualify. For the household size, you would have to count yourself, your husband, and your dependent parents plus the person you wish to co-sponsor, your daughter. That makes your household size 5 persons; and you need $34,462 a year to qualify. 20% of your assets can be added to the income; in your case, $15,200 (life insurance does not count unless it has an accrued value you can cash out or borrow against). After adding $15,200 to $19,265, you have $34,465, $3 over the required minimum. So, technically, you can file Form I-864 as a co-sponsor for your daughter. However, considering how close your financials are to the minimum, I would recommend including your husband's income and having him sign the "Contract with a household member" section of Form I-864.