The singer and rapper, who have had a rocky relationship over the years, seem to be on better terms for the sake of their ...

"Happy birthday Talula !!! 23 ! So proud of you you’re an amazing human being, kind compassionate and funny and absolutely beautiful inside and out. 🎈🎊," Dempsey penned the caption.

“Happy 23rd birthday to my baby girl,” he wrote. “An amazing young woman — kind, smart, funny, strong, and beautiful. Love being your dad and watching you chase down life with so much heart.