Is it possible to have passed HPV to my daughter while bathing/changing her?

Unlikely. There seems to be a component of active skin to skin contact with the body parts susceptible for HPV transfer. You are unlikely to have your hands contaminated with virus and contact her genital skin to make the transfer.However,mothers can pass the virus to a baby during a vaginal delivery if she is shedding virus. It can lay dormant up to 2 years before showing up as genital or vocal cord warts.
Possible . You have active infection and touch the infected parts and then touch your child without washing hands, it is possible to transmit the infection. It would be prudent to have your daughter vaccinated against hpv when she turns 11-13 years old.