I can only speak to Girl Scouts (I'm a leader). Please don't let your experience -- I assume it was quite a while back, right? -- affect your thoughts on GS today.
Please visit some troops and talk to some leaders. What a troop does depends a GREAT deal on how active the leaders want to be and what the girls themselves want to do. I know of parents who were peeved because "my kid's troop only does crafts, crafts, crafts and never camps" and other parents who were upset that "my kid's troop only camps and camps and never does a craft." (Nope, neither was about our troop.) You have to ask around and yes, you CAN shop for a troop and do not "have" to put your child in a troop just because it's the one that meets at her school. Be aware that your daughter is only 4 and not even old enough for Daisies yet -- the earliest level of GS, for K and 1st grade. So you have time to come back to this and think it over. I definitely encourage you to check out different troops and ask the leaders to tell you what they did with girls the previous year (at Daisy level it will all be very simple; also your child does not have to start at Daisy to be a scout later on, you can begin at any age).
As for cookie sales, you can opt out of those and your child does not have to sell even a single cookie; however, in a well-run troop the leader should (a) make cookie sales into a teaching opportunity so girls learn about budgeting and managing money, which are valuable skills, and (b) have the girls themselves decide what they want to do with the money they earn. Older troops have more "girl empowerment" to do this and know more what they want. But cookie sales are not supposed to be about raising funds that just go into the bank and don't benefit the girls who raised them.
ADDING after seeing your "what happened" -- You should never be told "I need $200 for a field trip." EVER. That would be a badly run troop. Girls earn the money and learn to spend on their troop budget. And nobody really wears the green socks anymore! Our troop budget even covers our girls' badges and awards each year. A troop must live within its budget!
Again, don't sweat it all right now; you have plenty of time. But I suggest you go to the www.gsusa.org web site for information on the national program and definitely talk to local leaders and your local Girl Scout Council (look on gsusa.org to find your area's council). I'm sorry your own experience was "extremely lame" but the organization today is all about preparing girls of all ages to be leaders, and girls who stick with scouting can learn so much and do so much if they are motivated.
Regarding affordability-- girls who are in need can actually get their basics (registration fee of a mere $10 to $12, any handbooks etc.) paid for by GS. The fees are very low. There is a national registration fee and usually a troop fee once at the start of the GS year (ours is about $12 on top of the registration $12) and that's it. A troop might or might not have dues of an amount the leaders and girls set, for us it's $1.00 per meeting and it all goes back into paying for field trips or other troop expenses. I would never call it "crazy expensive" at all. Cookie sales do bring in funds that the girls decide how to spend on projects, etc., and field trips, both for badge work and purely for fun.
Finally, if you like the idea of GS after you learn more, consider being a troop leader. It's as much or as little work as you want it to be, and it's a great way to ensure your daughter gets a GS experience that beats yours.
I want to address one thing another poster said: I'm sorry her experience with the required training discouraged her. GS does require leaders, and parent vounteers who want to help with certain specific things (but not everything!) to do certain training. (First aid and camping certification are the most common other than the required classes for troop leaders.). This is so the GS experience is always safe, legal and consistent. But now, all the basic courses to be a leader can be done online, so that means less time away from your own family. First aid/CPR does require a few hours iin a class every couple of years but that's worth it, right? And camping certification takes time, but it is so that when a GS troop camps, the girls have a certain minimum level of safety. Knowing how to build a fire for family camping isn't necessarily the same as knowing how, when and where to build (or not build) a fire in a GS campsite, where thousands of other troops are going to use the same area and need it to be dealt with and left a certain way. That's my two cents' worth as someone who has done the training. I felt it pointed out a lot of things I would have done differently, and less safely, without the training.