How do I go about getting the form so that my daughters biological father can sign all his rights over to me?

This is such a commonly asked question on the Family Law board, they created a sticky about it which you can read here:
https://www.askmehelpdesk.com/family...st-116098.html

It should answer all of your questions. If it doesn't, feel free to post what you're still wondering and we'll answer you :)