My response is nooooooo.... because ears are *generally* capable of cleaning themselves.
You said that the "Dr has checked my daughters ears" ... and the Dr said her ears were waxy. Did they follow up by suggesting you clean her ears? I would ask the doctor. If next time the Dr says her ears are waxy, jump in and ASK - should I clean them, and if yes, then how?
If your Dr didn't say for you to clean them then maybe they were just stating a fact, not subtly suggesting that you clean them. Every doctor I've seen says not to fiddle with your ears as it just causes more problems for them to fix.