Can I Add an Adult Daughter to the Title of a Home?

I have a house with a mortgage that I purchased a little over a year ago. At the closing, I asked if I could put my daughter on the deed with me. However, the mortgage company wouldn’t allow it. I don’t want her to have to go through probate, because this is my only asset. Is there a way I can leave the house to her, so she can sell it and pay off the mortgage?