I took a regular rmd and gifted it to my daughter, amount $5000. Is it taxable?

The RMD would be taxable for you if distributed from a tax deferred account where the contributions were all pre-tax.  There are no tax consequences for your daughter since a gift received from an individual is not reported on a tax return, regardless of the amount received.

Taking the RMD from your retirement account and giving the money to your daughter as a gift are two separate transactions. The RMD is taxable income to you to the same extent that it would be if you kept the money for yourself. It doesn't matter what you did with the money.

The $5,000 gift to your daughter is not taxable income to her, and she does not report it. If you give her a total of more than $15,000 in either 2018 or 2019 you must file a gift tax return (Form 709). You won't have to pay any gift tax unless you have given gifts totaling over $11 million in your lifetime, but you have to file the return. You cannot file a gift tax return with TurboTax.