actually, podiatrists suggest children be barefoot or the equivalent as often as possible, so unless she is walking on sharp things outside where she needs protection, the best option is soft soled shoes. the old days of wearing harder soled walking shoes like stride rites are now said not to be good for the feet(hence stride rite now has soft soled shoes).
robeez are the best. they are as close to barefeet as you will get. a little pricey though. target sells lookalikes. other similar brands are isabooties, lil jo, shooshoos. if you google soft soled shoes, you should get a bunch of brands. they dont come off easily and keep the socks on.
also, they can be worn outside as well. i wouldnt have my daughter go to the park in them, but considering at that age, your daughter most likely is only walking indoors, these types will be the best choice for her feet. also, an outdoor option is a slightly harder bottom like pedipeds, however they are still completely flexible and soft.
look for online deals, or coupon codes!!! once you try them, you will not know how you did without them:)