You might actually be right about this SPECIFIC quote, could have sworn I saw an article I can't find again and am seeing claims it's unverified. I think it traces back to an article by Richard Cohen for the Washington Post where he tried to include the quote but editors removed it. Notably, neither the editors nor Trump himself has disputed the claim. https://www.ibtimes.com/donald-trumps-sexually-suggestive-statements-about-ivanka-revisited-potus-allegedly-2937691
He did say he might date her if she wasn't his daughter, though. And said sex was something they had in common. And when asked how he felt about the idea of Ivanka in Playboy, said it was disappointing before adding “not really, it depends on what we see inside the magazine.” All this directly mentiomed in the link above.
But wait, there's more! He allegedly compared Stormy Daniels to his daughter. He told Howard Stern it was okay to refer to his daughter as a "piece of ass". He straight up told a reporter "Yeah, she's really something, and what a beauty, that one. If I weren't happily married and, ya know, her father..." https://www.elitedaily.com/p/9-donald-trump-quotes-about-ivanka-that-are-super-uncomfortable-8646720
Dude 100% wants to plow his own daughter.