If you are a permanent resident of Canada you may need to obtain a
non-immigrant visa in order to enter the US. You must get a visa from the American authorities
before you enter the US. It is a good idea to apply well ahead of the time you plan to travel.
You must also have a valid passport from your country of citizenship.
If you are a citizen of a country with a visa waiver agreement(Jamaica is not), you do not need a visa to enter the US. See a
list of countries in the Visa Waiver Program and read more about the program.
No matter how you travel back to Canada, you
must prove to the Canada Border Services Agency (CBSA) officer that you have valid Permanent Resident status. This applies to all family members who are permanent residents, including children.
For more information about documents required to return to Canada, read
Do I really need the PR Card to travel back to Canada?
United States Visitor and Immigrant Status Indicator Technology (US-VISIT)
The US has security programs at US ports of entry (land, sea and air). Most visitors to the US, including those who are permanent residents of Canada, will have their fingerprints scanned by an inkless device and a digital photograph taken. Read
more about US-VISIT from the US Department of Homeland Security.
If you travel to the US frequently, you may want to get more information about
Trusted Traveller Programs.
I am not sure if your husband and daughter already have their physical PR which I would advise to wait until then. Just apply like he would apply if he was still in Jamaica:
https://ceac.state.gov/genniv/
I will tell you from friend' experience it will be easier. Also if you are driving across the border be prepared for you guys to go inside and get a visitor's record when you go.