Gifts are not taxable to the recipients. Your parents as gift givers should pay gift tax but since they are not US citizens they cannot be compelled to file tax returns or pay taxes. However, you will have to report the gift to IRS, by filing 3520. Failure to report the gift may incur severe penalties.
Again, do not transfer the money without talking to an estate planning attorney first. You can set up the trust for your daughter and transfer the money directly to the trust, then buy the house for the trust.