Look at her straight in the eyes and say "I noticed you rolling your eyes at me when I asked you to take your dish to the sink. I find that disrespectful and it hurts my feelings. That's not how our family treats people in this house."

Let her respond. Offer a hug. Then ask if she'd like to try again. Your SD is looking for limits. Give them to her.

Kudos silversword. Excellent advice.

What silversword said, but I will add that you should ask her "did I do something to upset you?"

My niece used to do similar stuff with me at 6, I told her once that her behavior is not acceptable and really she never did anything of the sort with me, she is 8 and is very well behaved now. Tell her directly.

hehehe Welcome to the I am a big girl and know everything stage =) Yes excellent advice above, follow it. However at 5 you should almost be honored that she is comfortable to openly eye roll at you. (it normally starts when you turn around)
For me I never minded the terrible 2's I love the ornery little monsters at that age. (Biological or not doesn't matter) When they hit 5 I suddenly realized perhaps this parenting thing wasn't much fun at all. Don't worry though she'll out grow it just in time to hit her pre-teens, at which time you will really question your sanity and your love for your husband. You mentioned your son, so I take it you do not have a biological daughter? If so your sons actions towards you can not be compared to hers... Girls are a different species all together. Trust me on this one, I know.

Kids at that age will test your boundries and see what is acceptable behavior. You have to let them know what is not acceptable right away, before it becomes a habit. My ss had a habit at that age of moving his lips as if he were saying something back to you when he was told to do anything he disliked (eating veggies, cleaning up toys, etc). After a few times my dh had to tell him that it looked as if he was saying "dad your an idiot" when he did that and told him it was disrepsectful. A few reminders like that did the trick.

mom2, Mostly what Silversword said on the first go round. After that, if she is still rolling her eyes, talking back or whatever, she should get a time out. The rule of thumb is one minute per year. The old fashioned chair in the corner still works! That way she knows you are serious, will back up what you say and there is a cost to being disrespectful to adults, even step-adults. If that doesn't work, loss of privileges etc.

She's five. I agree with the others, she's testing the boundaries with you. My SGS tried to do the same thing around the same age. Check her behavior before it gets worse. You'll both be happier if you set those boundaries and enforce them. Lovingly but firmly. Don't forget to get DH to back you up.

Good luck.