You know, we never had this issue, but my six year old when she was about your daughters age, would only eat if I fed her. She would have to sit on my lap and eat, or she would not eat at all. It drove my husband crazy because she was old enough to feed herself. I let him know that it didn't bother me a bit and she was my baby so I would just feed her and keep encouraging her to try. Now, she is six and has been feeding herself since I don't know when. So she must have outgrown the phase. So I guess it just depends on if it bothers you or not. If you wish to break the habit, maybe take her out to pick out her own special dish set and let her pick what she wants on her plate. Then let her know when she is done, she can help carry her plate to the sink and wash it. My daughters LOVED to help (and still do). Just try something creative. And, when she reaches for your food, just tell her no. If she throws a fit, as long as she isn't hurting anything...ignore her. It may take awhile, but she'll come around...or get very hungry!
Good luck..she sounds delightful!
CK