There is nothing wrong with a man kissing his daughter, whether she is big or small, without desire, so long as that is on her cheek, if she is grown up, because of the report that Abu Bakr al-Siddeeq (may Allaah be pleased with him) kissed his daughter ‘Aa’ishah (may Allaah be pleased with her) on the cheek.
And because kissing on the mouth may lead to provocation of sexual desire, so it is better and safer not to do that. Similarly the daughter may kiss her father on the nose or head without desire. But if there is any feeling of desire then it is haraam for either of them to do that, so as to avoid fitnah (temptation) and ward off the means that may lead to evil actions. And Allaah is the source of strength.