Yes. Family members are included by choice, and each included spouse or eligible child carries an additional gift and processing fee under the official terms. A child who does not apply is simply not covered, and being over 21 or married removes eligibility as a derivative in any case.
Include only those who are moving, and budget for exactly them
The official page ties the additional gift and fee to each accompanying spouse and each eligible unmarried child under 21 included in the application, so a couple applying alone pays the principal's amount plus one additional set for the spouse. An adult daughter who stays in Québec is not part of the application and incurs nothing. That decision has consequences beyond money.
Permanent residence for the parents does not give the daughter any status later; a future family petition for an adult child falls into a preference category with its own waiting time under the Visa Bulletin. If she is under 21 and unmarried today but may change her mind, note that including her later is not guaranteed on the same terms. Record each family member's decision, age and marital status on the date of application, and re-verify the family provisions on the official page before paying.