Shingles is caused by reactivation of the chicken pox virus. Since you and your daughter have had chicken pox, you are immune to the virus.
No one catches shingles, but it is possible to catch chicken pox from a person who has shingles.
However, anyone who has had chicken pox or the chicken pox vaccine is immune and doesn't have to worry. Since most infants are given chicken pox vaccine at a year or so, most likely your 2 year old granddaughter is also immune.
However, they cannot catch chicken pox from you, and most likely your wife is also immune (over 90% of American adults are, whether they've had the vaccine or not).
If your wife isn't sure if she's had chicken pox or the vaccine, she could be tested. The incubation period is 14-16 days, so if she's not immune, there is a slight chance that she could come down with chicken pox and could be contagious before symptoms.
The shingles shot is recommended for all adults over age 60. It helps prevent shingles, but is not relevant to your daughter.