Seems to me like there's almost infinite possibilities/scenarios to your question. Is your kid holding decent grades, helping wash dishes, paying all her own bills (i.e. car ins, tuition, fees, books, etc) and possibly stashing some money in the bank? If yes then I'd say help her out a bit.
OTOH, if you're paying tuition, helping out with car &gas and she's out partying on the weekends blowing her money then heck yeah I'd charge.
It's all going to depend on your particular situation. I know I had to pay some and no, I didn't get any back either