How sweet that your daughter wants to help. First of all, let me say it's normal for you to feel impatient or like your DD is making more work for you. If everyone here were honest, she would admit that we have all thought that--at least occasionally.
I do think that this helpfullness should be encouraged. Not just for good citizenship and character reasons, but for the self confidence that comes from mastering skills. You can make things easier on yourself with a little creativity.
Floors- My daughter loved to sweep so I found a short broom and dustpan at the dollar store. If she can't sweep into piles, have her sweep the porch or do the swiffering (or microfiber towels if you use those) afterword.
A play vacuum or carpet sweeper is great for this age. Failing that you can teach her to vacuum the baseboards. I don't have a super easy vacuum so I often had my daughter help pick up before vacuuming. She would then vacuum -mostly the center of the room. I would give her another job while I finish up (dusting or picking up the next room).
Laundry- I can't remember when my daughter started sorting laundry properly but she did like to load and unload laundry very early. I remember her matching up socks and folding washcloths from a very early age. She became a good laundry sorter around age 5. Now she brings her hamper and sorts it into the family laundry sorter. I just wash the clothes of the fullest bin. (love that!)
Dusting- Yes. Microfiber towel or swiffer duster. This can keep her busy for a long time.
Pick up- Dollar store has kid size laundry basket. Can have her go around the house picking up her toys or things that don't belong and putting them back where they belong.
Dishes- I have had a low cabinet with things that are OK for her to play with for a while. At our current house there is an awkward cabinet under the wall mount oven... it became the kid cabinet. My daughter and nephews know where to get cups, plates and bowls. Even my 2 year old nephew will put away the kid stuff from the dishwasher. (I can put away knives and pointy things while they are distracted) If that's not enough, my Mom used to have a bin that she would put some soapy water in. My "job" was to wash dishes and give them to her for rinsing. Really she was keeping me busy, but I felt like a big girl for "helping" mommy.
Cooking- I try to have at least one thing that I need a helper during the day--Especially if there are veggies involved. My DD loves to cook, but if she preps the veggies or salad she will almost always eat it. If nothing else I can get her to eat 2-3 bites. Sometimes we will do a project like baking bread, cookies or cupcakes. If I really just want to cook for my own stress relief, then I would do it during nap time or right after bed time. But now the effort has definitely paid off...
Making the beds- Sheets are in the linen closet. I started putting the whole set in the pillowcase so my DD can grab everything in one shot. Usually she will put on two corners and I'll do the last corner or two (because that's the hard part). We got a duvet cover once DD got a big girl bed. The top sheet became a huge pain in the butt. So I gave up. Why stress? I can wash the duvet cover. Now DD likes to "make her own bed" because she just smooths up her bed cover and arranges her pillows. Voila!
Sometimes I lose my cool, but for the most part it is so satisfying to see my daughter gain confidence. Those proud smiles when she has something mastered are priceless. I know the extra creativity and sometimes the extra work are worth it when I remember that my daughter is learning to be helpful, follow directions, and mastering a skill. It helps me thinks of my little shadow as the highest compliment rather than a hassle.
If you have other situations, I would be happy to brainstorm some other ideas with you. I've had to do some other things to keep my nephews busy so we should be able to come up with more ideas. I know the other moms had a variety of ideas, too.