The former Houston Texans tight end agreed a one-year deal with the AFC North side earlier this week, and is expected to report to the team later this month for their voluntary off-season workouts.
The 31-year-old told the team's website: "I'm looking forward to getting to work with the guys and helping them out and bringing them along a little bit faster than without me here.
"I'd hope that I have a pretty good grasp of this offense after eight years and that I can communicate to the guys in a way they can understand and just take it and run with it. I know we have smart players here, and they won't have a problem learning it, but it doesn't hurt to have someone who has been in it for a while."
Daniels follows former Texans head coach Gary Kubiak to the side, after he agreed to become the Ravens' new offensive coordinator.