First, you need to take your odd kitty (or both kitties) to the vet for a checkup. Answering the call of nature in the wrong place is sometimes a symptom of a urinary tract infection, and the sooner that's dealt with, the better.
Then you need to get the, um, fragrance out of the bed. It may even be in the mattress. I think the people who invented Nature's Miracle should get extra stars in their crowns. You can use some of it in the laundry with the detergent if you want to try that (I've found that detergent works fine by itself). Use some of it on the mattress, too, if it doesn't pass the sniff test. The stuff smells as bad as what the cat left, but once it's dry its smell and the cat smell should be gone. If it isn't, then there's still some urine you didn't get. Check the walls, the pillows, anything. A little cat spray can get around, if you know what I mean.
You may want to make sure that the cat boxes are cleaned out regularly. Have you changed your brand of cat litter? Some cats are picky about that sort of thing. And yes, some cats will be jealous if THEIR bed is invaded by an intruder (your daughter). It stresses them out.
We had one cat who made a career out of doing this sort of thing, so I've had a little, um, experience at this. In fact, I picked up a blacklight at the pet store and that helps me find these "catted" places.