It was an emotional moment for a mother in search of a daughter, and through her tears, Amanda Poulter gave a message for Roberts to convey to Maya Ester.
"Can you tell her that mommy and daddy love her and we will come as soon as we can to bring her home," she said. "Just tell her we love her, and give her a hug and tell her mommy and daddy will be there."
Roberts whispered the message into the sleeping child's ear: "Ester your mom and dad love you, and they are going to be coming to get you as soon as they can."
Soon after, Amanda Poulter called her husband, Matt, to deliver the good news. But the Poulters weren't the only people in their small Iowa town anticipating news from the orphanage in Haiti. Two other families in Pella were also waiting to adopt four other children.
The news that Maya Ester and the other children at the orphanage were safe spread quickly.
Like the Poulters, Tracy and Less Fuller, and Dave and Andrea Van Der Hoff had waited two days to get any news of the four other children due to come to this small Iowa town from the same orphanage.
Port-au-Prince was home to a considerable orphan population before the earthquake hit Tuesday, turning Haiti's capital into a wasteland.
While some children had been placed in orphanages because their parents had died, many others are brought to orphanages by their families because disease or poverty left them unable to care for their children.
"There are four other children ... and their parents were just so excited, as we were, overwhelmed that you had found them," Amanda Poulter said on "GMA." "They will get to continue their friendship."
In 2007, UNICEF estimated there were 380,000 orphans in Haiti, which has a population of just over 9 million, according to the CIA World Factbook.
But as night fell on the devastated country for the third time since the earthquake, the Poulters were able to go sleep tonight knowing their daughter was safe.
"I am still in shock," said Amanda Poulter. "I don't even know what to think. It is just such a huge relief to know that she is OK and that she is safe. I am imagining her sleeping in her crib there."
ABC News' Sarah Netter contributed to this report.