My daughters father wants to sign over his rights to her and I am going to waive the child support. I'm trying to find out if there is any way to do this without going through a lawyer and having to pay so much money to get it done.

There isn't any realistic way to do it WITH a lawyer and paying a lot of money.

Are you married and is your spouse going to adopt the child? If not, his rights will very likely not be terminated. You can drop child support by going to court, but that isn't benefiting anyone but the father.