Kali, Yes, you can.
OP - and other contributors, there is no point in crying over spilt milk or discussing what you ought to have done. The OP is faced with the fact that her daughter has the money and she is not going to pay it back.
I understand your grief for the daughter you thought you had. You must be devastated by her behaviour, as I would be in your situation.
With nothing in writing and the possibility that you may have said to the solicitor it was a gift, even though you are not aware of having done this, it is very difficult to know what you can do to get the money back.
What you now need to consider is how you can replace those accessible savings. You do not say that your daughter is an only child, but I suspect she might be, You also do not say whether you are house owners or not.
If you own your house you could release some of the value of your house through equity release. It works a bit like a mortgage, but instead of paying it back or paying any interest, the interest is added to the loan each year and when you sell the house, either to go into care or after your death, the money and interest are repaid.
To show how it works. Take a house worth £350,000, £100,000 equity release and interest of 5% a year. You would get £100,000 and instead of paying interest at the end of the year the money due back to the lender would be £105,000. The year after that 5% of £105,000 would be added on and so on.
If you decide to do that, you could then write to your daughter, tell her what you are doing, why you are going to do it and point out that that means that you will probably have very little to leave her when your died as the money you are taking out of the house and the rolled up interest will account for most of the value of the house.
This just might galvanise her into action and repayment. If it doesnt, go ahead with the equity release. You will then have some money behind you that you can access easily and she will just have to accept that her failure to repay the loan will severely cut into any inheritance she may have expected.