why can't i restore my daughter's ipad without a password

See if anything here helps.

Passcode - If you forgot the passcode for your iPad or your device is disabled.  

vei4346 wrote:

My teens ipad

That part was already indicated in original post.

is it asking for the passcode to unlock the device or icloud/itunes password.

Any restore or update will require users to input the passcode that is used to unlock the device.

vei4346 wrote:

Can i restore my daughter's ipad without knowing the password

Password to what?