Intra Family Mortgage

My husband and I (retired) financed (or refinanced ) a home already owned by my daughter and her husband Jan 1, 2023.   They have paid us interest for 2023 over $5000.    My question is:  Do they need to send us a 1099-int?  If not, do they need to send us any form?  I know the interest will have to be reported on our 1040.

If someone can give an accurate but simple answer, I would appreciate it.  Thank you in advance.