The odds of your gift(s) ever being questioned by the IRS are negligible. If you want to make to make sure there zero chance of it ever becoming an issue, file Form 709. That said, if you were to write letters to your grandchildren and their mother telling them that you have gifted them the money by way of their mother (your daughter) you should be OK.
Yes you could have made gifts to the children and then her mother, as their guardian could have used it for their benefit as she chooses best.
Here is a link to IRS Form 709
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