I have an easier time with a Luffa & Body Wash, instead of a soap bar. The Luffa covers more area of my body at once than the soap bar and that helps me a lot.

I am not all that familiar with kid's shampoo and conditioner, but the gentler and more sensitive the better it probably will be for your daughter. If your daughter's hair type allows it, she will probably prefer it if you use your whole hand to massage the shampoo into her skalp & hair, instead of just the tips of your fingers.

At least for me as a hypersensitive, light touch or touch over a small area is hell for me. Heavy touches or touch over a large area is pleasant for me.