All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah, and that Muhammad is His slave and Messenger.
It is not permissible for you to remove the hair from the 'Awrah (parts of the body that must be covered in Islam) of your daughter, as this is looking at what is forbidden for you to see from her. There is absolutely no need for you to do that and there is no necessity at all. There are some hair-removing creams which can be used instead of a shaving blade or other devices which may cause injury.
For more benefit, please refer to Fatwa 90591.
The 'Awrah of a Muslim woman in front of another Muslim woman is from the navel to the knee. Therefore, if she covers this part of her body, it is permissible for her to uncover the rest of her body in front of her sister as long as she is not tempted (by her sister) or cause her sister to be tempted by her, in which case she should cover any part of her body which may cause temptation. However, some scholars are of the view that the 'Awrah of a woman in front of another woman is her entire body with the exception of what usually appears when she works, like her arms, neck, hair, and the lower parts of her legs. Acting according to this view is better in a society where immorality and homosexuality is widespread.
Therefore, each one of them should take her precautions not to reveal her 'Awrah especially when sleeping, and you must separate between them in beds (i.e. each of them must sleep in her own bed) as the Prophet ordered us to separate between children in beds.
For more benefit, please refer to Fatwa 92295.
Finally, you should get married so that your wife will help you in regards to your worldly matters as well as the matters of your religion. A Muslim man should not live without a wife unless he has a sound reason which prevents him from marrying.
Allaah Knows best.