A lot of things can change as a relationship endures over the years. It doesn't always mean a bad change - maturing can be a good thing. Sometimes it takes longer than 4 years, but sometimes even less. Things can also change when people have a child. They see themselves as parents first, not as partners/lovers. They also see new sides of themselves coming out, and new sides of the other one. These tendencies may have been there but just not evident because the "trigger" (e.g. your child) wasn't there before.
It is common to fantasize, so don't beat yourself up about it too much. You don't have to feel guilty for your thoughts - just accept them. If you act on them, that's something else. It helps to realize that, even if your fantasy man appeared in real life, once he went through the changes of a real relationship, he might adjust, act differently, or not appeal to you as much.
On the one hand, you are very lucky to have a husband who loves you so much and who, when your daughter arrived, totally adjusted to his new role. Some men don't bond or else become distant from their children when they see that the child takes up so much of the mother's time and focus. However, that doesn't mean that you don't have these feelings or that you are obligated to force yourself to love and desire him sexually. So maybe you can do some things to help get past this.
Can you schedule a date night, and promise yourself NOT to talk about your daughter? See yourselves as a couple, as lovers, not just as parents? Is there someone who would watch your daughter for a weekend or even just an overnight? There are some great hotel deals through places like Hotwire and Priceline - maybe you can spring for dinner and a play (or museum or concert, or a hansom cab ride, whatever you like) and then a hotel room with a view or champagne & strawberries, maybe couples massage to relax you. Be together, talk, walk while holding hands, and so on. There must have been something that appealed to you at one time - it can't just be the idea of stability. Maybe you can reclaim that, or discover something new. It doesn't have to be perfect, just something endearing.
If your husband knows how you feel because you have been to counseling, maybe you can let him know that you'd like to try and you'd appreciate it if he could reach outside of his comfort zone a little bit and push himself to be a little more romantic or whatever it is you need. If you both try, you'll be a little closer toward the middle.
Try to be a little easy on yourself - you have both had a huge transition in the last year, and both your body and your mind have been through a lot. From body changes to hormones to an adjustment in your mindset, having a child - regardless of how much you adore her - is a massive change.
Give this some time, set aside a date night at least once a month, be a couple and not just parents, and also consider getting some individual counseling to help you sort these feelings out over time.
Good luck - and you are doing the right thing by reaching out!