A parent can accompany her if she is a minor but you should be able to show strong family ties outside Canada and more funds. The principal applicant will be your daughter.
Personally, I think a better approach will be to apply for study permit for your daughter and a separate application for you and your wife's visitor visa. In this approach there is a risk involved that your visit visa might get delayed or not issued on time however this way both you and your wife can travel and also it would not affect the processing of the study permit of your daughter. I am not an expert though.