I am going to assume that you only care about the US impacts, and assume that your daughter is also filing US taxes.
If I wish to gift my daughter a single residence that is rented out
That gift is not a taxable event for your daughter. After she inherits the property, the income, expenses, and depreciation do impact her taxes.
I have to assume that there is no mortgage, because if there was the lender would be very interested in this gift. The bank is an owner and would not want to have a mortgage on a property you no longer own.
...my daughter would get the rent money for about 4 years or so...
Not sure what this means. Unless the general plan is that she would sell it at an undetermined time a few years from now.
...what taxes would I expect to pay on the transfer of the rental
residence in her name?
Since the value of the property exceeds the value of the annual limit, you would either pay a gift tax, or have to use some of your lifetime exemption.
.. And what taxes would she expect to pay when receiving it from me...
She wouldn't have to pay any taxes on the gifting only what happens after the gift is received.
Also note that when she sells and calculates the depreciation each year it is based on your initial basis, not a stepped up basis.
..and/or when she would transfer it back to me (and would I need to pay
anything on receiving it back under my name?)
Wait. The plan is that in 48 months she will gift it back to you?
Now ignoring that because you have a string attached to this gift it isn't a gift: the transfer will trigger a gift tax on her or a use of part of her lifetime exemption. You wouldn't pay any taxes on the 2nd transfer because you are receiving the gift.
But the sting attached to the first transaction means it was never a gift.
It also seems to be a complicated way to provide a small amount of cash each month, and a tax break for your daughter. If the property has negative cash flow what is the point?
Now you could also be doing this to avoid some taxes, or to be able to say that you don't own property therefore qualifying for some program. You could also be doing this to protect the property from a lawsuit, or something similar.
You have to be careful about doing it for these reasons. Government programs generally have a look back period to prevent a person from gifting all their assets today, applying for the program as a poor person tomorrow, and then getting the gift back the day after the government approves the application. Judges also frown on this type of exchange.
I am also assuming you daughter isn't a minor, because that could complicate these transactions even more.