So after doing some research I've determined I can't gift her the money for an IRA. In order to have a Roth IRA a person has to have income and a gift does not count.
Because I live in a state that requires I file my taxes jointly since I itemize my return, it pushes my AGI over the limit for my wife or I to have a Roth IRA and I can't leave what I can't have to my daughter.
She already has a 529 account but this only allows for educational expenses so I need something in addition to it.
My research is pushing me in a two directions simultaneously now.
First, I'm going to create a new company and add her as an owner. She'll have to pay some income taxes but the company likely won't be profitable enough for her to not receive a full return anyway. As soon as she receives some income she can then have the Roth IRA. Unfortunately this is probably going to take me a few months to complete everything properly and legally so she'll miss the first year of investment.
Second, since the annual Roth IRA contribution limit is well below the annual gift limit anyway I'll have to invest traditionally for her and just pay taxes on what is earned. She will already take control of a couple of properties through my trust so I'll just diversify with various stocks, etc.
I've set up a meeting with our company CPA to help me keep everything above board and we've got a new company attorney that is not charging me for a few phone conversations to help me out.
I don't see the need for this. For most people the main purpose of a trust is to avoid probate but since an IRA is a contractual agreement to begin with it avoids probate by default. There could be a few states where this is not the case but that is my understanding of it and it is the case in the state I live in.