How can my daughter transfer her half of our condo to me without minimum expenses?

Puhcho, are you buying out your daughter's share of the condo? It is best to find out what is the current value of the property. Usually one will use a certified Appraiser to give you a value on the home.

Call Prince William County or the City of Manassas [depending on where you live] deed section and ask them what you and your daughter would need to do to. Chances are a Quit Claim deed will need to be prepared.