Just to synthesize some of the great information here, make sure that your daughter gets a lot of practice handling the vehicle. We take it for granted, but handling an object that weighs a ton or two while hurtling through space is a big deal.
Some of the posters are stating that it is easier to teach someone how to drive in a small town versus a big city. I'm interpreting that to mean that it's easier to learn how to drive with fewer complications. So, go early in the day and traverse less travelled streets.
Like paindonthurt17 is implying, your daughter isn't getting any license or access to a vehicle until you say so. Set out your own goals for her, things she must master first. That girl can take the bus or walk until she gets it. The suggestion to verbalize what she's doing is also top notch.
Respect your daughter's learning process. When she's fully engaged in operating the vehicle, your suggestions are a distraction, and whatever reaction you're getting from her is likely just an ungracious request to allow her to focus without interference.
Mainly, help her develop some confidence.