I was away when my child was born and my name is not on the birth cert already went to custody and she lives with me but have no idea to start want to get everything in order for medical insurance

When the court ordered custody, you should have asked for the court to issue an order to amend the birth certificate.

However, the custody order should be sufficient proof to add the child as a dependent. Go to your HR department and ask for the form to add the child. They generally don't require proof, but if they do send a copy of the custody order.

Mother doesn't want to give me her birth cert. or her social security card

Have custody of my daughter and mother doesn't want to give me her birth cert or social security card how do I go about getting it if my name isn't on the birth cert

Do you have sole legal and physical custody? Has custody been awarded to you by a court of law?

Have you had a DNA test to prove paternity?

I answered this previously. If you have a court order awarding you custody, that should be sufficient to get copies of from the SSA and your local Vital Records agency.

Yea I have physical custody and joint legal. No the paternity DNA has not but in court I admitted that the child was mine so it's in the transcript that I have

Have custody of my daughter and mother doesn't want to give me her birth cert or social security card how do I go about getting it if my name isn't on the birth cert

Ask the vital stats office & the Social Security Administration for copies of each. They will require proof that you are the father, so, as ScottGem says, offer them the custody order which (I assume) recites that you are the father.

You could also file a motion with the court which awarded you custody for an order to put you on the BC.

Yea I have physical custody and joint legal. No the paternity DNA has not but in court I admitted that the child was mine so it's in the transcript that I have

So my answer stands. You have a court document stating you have custody and are the legal father. You don't need the mother to get your own copies.