Shemar Moore Is Soaking Up Every Moment with Daughter Frankie, 15 Months: 'My Little Miracle' (Exclusive)

Shemar Moore has nothing but love for his baby girl.

Speaking with PEOPLE after news that S.W.A.T. will return for an 8th season, the actor, 54, says he's having fun focusing on dad mode when he's not wrapped up in his role as Sergeant Daniel 'Hondo' Harrelson.

"She's walking!" the proud dad shares. "She waited for me to get off of work. I get the announcement that S.W.A.T. is coming back for season 8 and 22 episodes and literally the next day, she walked 10 steps. Now she's waddling all over the house."

Moore says he's looking forward to "getting some time off to be Daddy and hang out with my baby girl Frankie and my girl Jesiree."

"She's my little miracle," he says of their daughter. "The rest of my life, it's for her."

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When it comes to his work, Moore wants his little girl to know that all his hard work has been for her. Asked which project of his he's most excited to share with Frankie when she grows up, Moore laughs and says, "I don't know if she can watch all this bang bang stuff."

"I'm excited to just try to show her my story, and herm other's story. We're excited to teach her that she can be anything she wants to be and teach her that basic goodness," he shares.

"I don't want her to get caught up in the hype or the fame of Hollywood. I don't like to call myself famous or a star, but I know that I'm known. I don't toot my own horn, but I do want her to be proud of her daddy."

The actor laughs again, adding, "She can't watch everything, but who knows? I did a spot in Sonic the Hedgehog 2, so maybe with the future of my career, I'll make sure to do some jobs that Frankie can watch."

As spring marches toward summer, the actor is looking forward to making the most of the hottest months of the year.

"I'm going to get back into playing golf. I'm going to lay by my pool and get that nice, sun-kissed tan. I'm going to swim and run around with my daughter and my dog, take them to the park — just be Daddy. This is still new for me. She's about to turn 15 months old, so I'm enjoying it."

"I'm a little tired right now, not going to lie. So it's going to be nice to take a little break and then come back swinging."