When a process supports daemon mode, you can either run it in a screen instance or init.d script.
If you had to kill off a rogue daemon and need to start it again via SSH, you can restart the daemon with a very simple addition to the command:
For example you have /bin/daemon_process with the parameters "--daemon --log-path=~/logs/blah/"
You can execute it with:
/bin/daemon_process --daemon --log-path=~/logs/blah &
The extra & at the end makes it spit output to the current terminal, but it wont wait for the daemon to finish.