I had something similar happen with my daughter. I used to be the one to put her to bed and we had a routine. Then one evening, my husband had to put her to bed. He was convinced he did it all wrong and so was my daughter. :D
What we ended up doing was that mommy had one way of doing it and my husband created his own routine. He deliberately made it different and as special as he could so she would enjoy it too.
It helped her see that daddy could do things with her and for her too, but that he sometimes did them differently.
I agree with the other posters who have said that it isn't a personal attack or anything against your husband. Its just what she is used to and is comfortable with. She also may not know how to express these feelings or even understand them completely herself.
The daddy/daughter dates are a good idea too.