The couple, who married in December 2015, welcomed the baby this past Wednesday, October 7.
Born in Vancouver, British Columbia, Harlow arrived at 9:37 a.m., weighing 5 lbs., 2 oz. She measured 18.5 inches.
“We have been preparing most of 2015 for this day to bring our baby girl home to her princess nursery and today was finally the day,” Caldwell told PEOPLE exclusively. “My husband was so cute driving his girls home extra slow with extreme caution.”
They announced the pregnancy also through PEOPLE this past May.