Is there anyway we can teach her without her falling off
?
Not in my book there isn't. Falling off is an essential part of the learning process and coming to appreciate that falling off a bike hurts is what concentrates the mind to not fall off as quickly as possible.
It's one of life's rites of passage, and the only way to learn is the hard way. Falling off = pain, staying upright = pleasure.
I had a crash course in bike riding when I was somewhere between 3 and 4 after snapping off a stabiliser on one side. I remember taking it back to my dad expecting him to put it back on, but he simply removed the other one as well and said I'd better learn to ride a "proper" bike now! It didn't take too many spills involving removing bits of dirt from grazed hands and knees for me to realise that it was much more fun if I didn't come off. Kids were rough and tumble when I was small and getting regular grazed and bruised bits was just regarded as one of those things, and didn't get much parental sympathy!