Well do just that - spend time together.
But I would advise that you do it away from your child, so as not to get her hopes up until you are certain.
Perhaps one night a week date night, and one night a week couples counselling.
By the way: if he won't go to counselling, he's not committed to you, don't even try getting back together.
Do you know why he left?
Does he know?
Do you even want him back? (for him, try to forget the temptation to have a family together, and the practical ease of it)
He has put you and your daughter through a lot - he needs to be certain. And even if he is certain - you may not be.
You know the phrase the grass is always greener?
I like the phrase the grass is greener where you water it.
Is he actually wanting to come back and water the grass?
Or is he just disappointed the bachelor life didn't work out?
I hate to be so blunt about this, but be very careful that there wasn't another woman involved who has either dumped him, is less attractive now it's not exciting and illicit, or has failed to leave her own partner.
This is in YOUR terms. He has to work for this.