I do.
Yes
Daily is better, IMO. The same housekeeper may not be servicing your room each day.
I had never heard of tipping housekeeping daily. But I see Miss Manners agrees.
How much do you tip?
I usually tip $3 a day. I usually dont have them change the sheets or towels, just make the bed and empty the trash.
A couple of bucks a day, in an envelope addressed to housekeeping (if one is not already provided). But I’m also just starting out and not exactly spending time in 5 star hotels. 
It should go without saying, but I’ll say it, leave more if you had a huge party in the room or otherwise left the room a pig sty.
We tip $5/day, usually at the front end. But it’s a good point that it may not always be the same housekeeper, so will change to daily. I’d hope they pool tips but you never know.
Lately we’ve been staying at Airbnb/VRBOs and don’t tip.
I’ve actually been choosing the option to not have a housekeeper come in until the end for a couple nights stay. If it is just one or two of us I feel it isn’t necessary. Most recent stay the hotel provided three $5 coupons for food in the hotel restaurants/cafe as a perk for skipping the daily housekeeping services.
Really, don’t have a large party in the room or leave it a pigsty.
We keep a neat room and skip changing sheets and towels daily. Very low maintenance. When I had my dog in the room with me I would tip at least $5 per day. We just grab a small sheet of paper from the courtesy notepad on the nightstand, scribble “thank you” on it with a smiley face, and leave it on the bed or some other highly visible place. When accompanied by canine, I always added a paw print to the smiley face. It’s only polite.
$5/day, every day, and I try to keep the room neat. Hotel housekeepers have a rough job for little pay.
We always tip but have done it at the end. What a great idea to tip daily–will change that habit!
@HouseChatte you have a dog? And a cat?
$5/day @Twinsmama is very generous
@jym626 I have two dogs now. The house cat in my user name is me. 
What kind of cat are you? (Am trying to find a good pun but don’t know a lot of cat breeds)
Ha, now you got me curious and I looked up personalities of different breeds. Closest I could think of is a Singapura: “Personality: Sweet, demanding, affectionate and occasionally bossy.” That about nails it!
Online, I’m seeing $2-5 per night for housekeeping. Possibly more in very upscale hotels. $1 or 2 for delivering things, eg, extra pillow or towel. Or if a larger number share a room.
Imo, ymmv.
I guess there could be a rotating team. But I’ve stayed places where the same folks are in the room daily. Or there’s a card that tells the name(s) of the staff for that room.
And have seen supervisors check an empty room before staff go in.
5 bucks a day is normal for me to tip.
Something I recently learned while staying in a resort in Aruba. The housekeeping services was contracted out and the supervisors who checked the rooms took the gratuities and decided how much to dole out to the housekeepers after they took a “cut”. A local clued me in on this and I checked with concierge and they confirmed it. After that, I tried to find the housekeeper and hand it to her directly. I have no idea how widespread this practice is.
@ECmotherx2, that makes me sad. Good idea to actually find the person. We used to tip when we did carry out from a local restaurant. One time the kid at the cash register said “Don’t bother, we don’t get the tips.” Good to know.