Haven't read the thread so sorry if I'm repeating:
My dd is 2.6 and we started messy arts / crafts with her at home since her 2nd Birthday - she does a lot of it at nursery too.
What we normally do is either painting, sticking or doing something with glitter.
If you're vary of bringing yourself to get messy, try and do it when it's someone's birthday so you can make a card / gift together. This way you kind of feel you haven't got much choice and have to do it
Get a plastic cloth to cover the surface you will be using, get an apron for your dd. I quite often get some stuff ready for her in the evening - cut out a lot of different shapes, print out different pics of the net - CBeebies have great ones of characters - instead of just coloring them in, we stick on them, paint them, put some string as their hair etc. They get a little inpatient if you try and do that whilst they just want to get on with it.
Afterwards get her involved in cleaning up - we get our dd to stand at bathroom sink and wash all sponges, brushes etc. (whils we get rid off everything else).
If you want to get some great ideas - try watching Smarteenies on CBeebies, they do a lot of easy crafty stuff.