Is it permissible to take from the gold that a father intended as a gift for his daughter but did not give it to her before his death?

As long as you did not take possession of the gold during your father's lifetime, you do not own it. It should be returned to the estate and distributed among the heirs according to Islamic law, unless the heirs wish to uphold their father's gift. An heir has the choice to uphold or reject a gift if the giver dies before the recipient takes possession of the gift.