Have you been in Thailand for less than 90 days from the initial visa? Then you are fine, you don't need to do anything with your visa stamp.
OR
Have you already applied for an extension at the local immigration office in Thailand? Then you must cancel the latest extension once you are back to Thailand, IF you want to apply for any other extension in the future.
If you will not apply for an extension hereafter, and will travel to Thailand only on a tourist status without extension, you can leave it.
If you were on the Non-ED from the embassy in another country for 6 weeks, that means you were still on the first 90 days from an initial visa. If this is true, you are fine, as the initial entry stamp cannot be cancelled.
You need to cancel your stamp only when you have already applied for an extension at the local immigration office inside Thailand.
Another thing is, do you want your daughter to have a chance to live in Thailand long-term in the future?
If yes, you have to cancel her extension officially before she leaves Thailand. To do it, the stamps have to be transferred to a new passport.
(I cannot come up with a reason for her extension that is not required to be cancelled, such as "being over 50" <- no reason to cancel)
If an old and "supposed-to-be-expired" extension is remaining, it will cause an issue when the holder wants to apply for a different extension in the future, even after years have passed.
Same for you, if you are on an extension currently, and there is even a slim chance you will be back to Thailand as not-a-tourist, you should cancel your extension officially before you leave.
If none of you will ever be back to Thailand other than a tourist for short holidays, you can just leave.