I think my mom and I would have killed each other if she hadn't hired a professional driving instructor for me. She wasn't ready to trust me and she was too tense and nervous in the passenger seat to be supervising me during practice drives.
During one of my lessons, my driving instructor pointed out to me a car making an unsafe left turn at a weird intersection as an example of what NOT to do ... I recognized the driver -- it was my dad! 
Driver's ed was offered at our local community college and it was totally optional. The incentive was that if you took it, it would bring your insurance premium down. So pretty much every parent who was adding a teenage driver to their policy thought it was a good idea.
Didn't learn to drive stick until I was 27. DH and I bought a car together, and he insisted on a manual. Up until that time I managed to live without a car. First lesson was a disaster. Too many lectures on how an internal combustion engine works!. After that I had a friend teach me. Probably saved my marriage!
Good luck with your daughter, I know this is a big milestone for you. I think being a cyclist who also drives is a great way to be a safe driver.
2014 Bobbin Bramble / Brooks B67
2008 Rodriguez Rainier Mirage / Terry Butterfly Tri Gel
2007 Dahon Speed Pro TT / Biologic Velvet