WITHOUT PREJUDICE: :sweat:
Certainly is possible, David - vehicle lease agreements are like this, where a company owns a vehicle and leases it to a user who becomes the registered keeper.
Just draw up a simple sale document transferring ownership to your daughter for say £1 with a sale condition (if you feel the need) that it to be rented to you for a period - say 4 years? Then draw up a simple written lease document (for example a Hire Agreement for a term of say 4 years at peppercorn rent of £1), sign one copy and get your signature witnessed by an independent party - for your daughter to keep, and get another copy signed by your daughter and witnessed by a non-related person, for you to keep.
In fact if you PM me your email, I could send you one already drawn up which I use.
Sorry but I am unable to offer any advice on how secure such an agreement like this would be, should it be challenged for example by a partner who might be after half of the value of the vehicle.