Hi W.,
Been there, done that, now have a boy who actually stays in bed. (although, typing this, there's always a fear of jinxing it!)
This is what we've done:
Start bedtime prep at 6:30. Pajama, brush teeth, wash face, potty. All of this is finished within a half hour.
7 pm: three stories (or 20 minutes of a chapter book), then our bedtime song. About 5-10 minutes of snuggle time and then "Goodnight".
At this point, he has to stay in bed unless he's using the bathroom. Because he's an affectionate kid, he wanted more hugs, too. Hard to say no to, but we stand firm. At snuggle time, we explained: "Bedtime is for you to stay in your bed.This is the time for hugs and kisses now. If you get out of your bed, we will not be giving any more hugs and kisses. I'll see you in the morning."
Then, walk out of the room. When she calls to you, (unless she's hurt, and we all know the difference...) ignore it. When she comes out, no eye contact, just "bedtime" and take her right back to bed. No hugs and kisses, no attention or affection, no anger or emotional response on your part. Just "bed" and walk her back to bed.
It took me two nights of this. (first night I camped out in the hallway with a book on some blankets) The sole purpose in my mind during those two evenings was correcting this behavior, and I expected that it would take up my evening. Knowing this, I wasn't mad when he came out. By the way, it is precisely the non-emotional response that sends the message that this is your child's challenge to master, not yours. After you've said "Bedtime" more than once, you don't even need to say it anymore. No bargaining, negotiating or cajoling. Unless there's an emergency, (blood, throwing up) just be calm, controlled force of nature and keep taking her back to bed with no interaction.
Eventually, if you can keep from engaging, she'll get the message that she's a big girl and can go to bed on her own. And, that you are confident that she's going to be fine.:)
I included the times of evening we do bedtime just for reference. Only you will know what works for you. My son is the same age as your daughter and usually needs about 10 hours of sleep a night. This way, he wakes up well-rested.