Hi there,
I think it is possible, but not easy for you and your daughter to get a mortgage together.
The 'problem' you will have is that you are already registered on a mortgage with your husband so you are associated with that debt, though as there are only 3 years more to go, you have some options.
There are some newer mortgage deals available aimed at providing first time buyers with the opportunity to get a mortgage.
These range from Shared Ownership (where you buy part of the property and rent the rest from an organisation, but can purchase the remainder when you have the funds) to a Parental Gaurantor mortgage which has some variations on you just acting as guarantors to actually having to put up significant funds to guarantee a shortfall (25% = 27500) on top of your deposit.
The good news is you have a deposit and lenders look more favourably on this.
Have a look on the net and this site for more articles on Shared Ownership and Guarantor loans / mortgages, and I would recoomend an Independant Financial Advisor who should be able to give you guidance on a range of products available to suit.
For your daughter with the numbers provided you have
110000 purchase price
16500 deposit (15%)
93500 mortgage (85%)
However this requires a 4.39 multiple of your daughters salary this is where the difficulty will arise. It should still be possible.
Some options are: (that you have probably already considered)
Withdraw additional funds from your own house to top up the deposit (or from another source)
Look to get the new property at a reduced price - sellers should be in a position negotiate more (down to 100K would reduce the mortgage multiple to under 4 (3.92) improving the chance of getting the mortgage.
Good luck
Sparky