I gave her up to my mom but she passed away in June 30, 2012 and she gave my daughter to a friend of hers that she worked with, and then after that I don't know were she is

Did you legally "I gave her up to my mom"? "she gave my daughter to a friend of hers that she worked with". This isn't just hand me down clothes or an old car. Legally you don't just give people away, at least in the US.

As noted, children are not just passed around.

Have you tried checking to see if she has a Facebook account? If your daughter was underage when your mother died, the local family services agency may have gotten involved. You can also try checking the local Family Court for Guardianship or Custody hearings.

I will assume you did not go to the funeral of your mom in 2012, where your daughter would have been. And that for years and years you had no contact with her.

Why now, after the child is grown, do you feel you want? Or even deserve the right to come back into her life?

Who did your mom's estate? Are there other brothers and sisters that you have that may have info?

Have you traveled to where you mom lived and looked up her old home and her old friends?