Yes, comfortably, if you have 3 full days.
My suggestion for Lantau Island if you fancy a nice long day with some hiking:
(this only really works on Saturdays or Sundays when the cable car starts at 9am; other days it's 10am and that makes the schedule a bit tight)
08:15 from HK Station take the
MTR to Tung Chung
09:00 Get the first
Cable car to the Buddha & Monastery (an hour walking around covers both)
10:35
#21 bus to Tai O
11:00 Walk around and early lunch at a local seafood place in Tai O
12:15 Hike stages 7 & 8 of the
Lantau Trail (16km) with pauses to explore the fort etc at
Fan Lau
17:30 Arrive Shek Pik; take a
#1 bus (or
#2, but that's more expensive) to Mui Wo.
18:30 (or so, depending on how long you have to wait for a bus) arrive Mui Wo and proceed to the China Bear pub - sit outside taking a drink and some pub grub whilst waiting for
19:30 (Sat) or 20:00 (Sun) the slow ("ordinary")
ferry back to Central (the slow one is much better for admiring the view from the open decks as you pass through the anchored ships and into Hong Kong harbour).
For the other days I would second what others have said above, but say that "harbour tours" aren't really good value. You can get to see all the same stuff by taking the
Star Ferry from Central to Hung Hom and back. Try to time it so that you travel from Central just before sunset, then you'll have a 15 minute ride, a 20 minute wait in Hung Hom admiring the sunset (unless you really scoot round from arrivals to departures and catch the same ferry back - but why rush) and then get the ferry back after dark. Note that the last ferry is at 7pm on that route.
Get
normal Octopus Cards (not the 3-day tourist ones unless you plan to use the MTR a lot) for use on the MTR, all the buses, and the ferries. Put maybe $200 of credit on each of the cards when you buy them - you can get it refunded (less a HK$7 handling charge) when you hand the cards back when you leave. Your daughter qualifies for a Child Card which gets her discounts on most services.