We can volunteer at the local humane society. Does yours not allow children? Due to legal reasons they require a parent to volunteer alongside them and sign a waiver, and there are certain things they are not allowed to do (like the kids can't hold the leash on the dog, or at least CERTAIN dogs that are high energy or whatever, it must be under an adults control)... but there is plenty they CAN do.
I can take them into the cat room and let them play with the kitties to their hearts content. The kitties just love it. Many of them are attention starved.
They also allow you to "check out" a dog. You can sign them out and take them for walks elsewhere besides right there at the humane society. We are a beach community and so lots of people check dogs out for the beach. They load them up, drive to the beach, and take them for walks there, then bring them back. It's great socialization for the dogs, aside from getting them "out" from inside their kennels. If you do something like that, your daughter can pet, groom, throw balls/frisbees with the dog. Etc.