The Perl Cookbook has a recipe titled "17.15 Writing a Multitasking Server with POE". It says that you want to use the POE::Component::Server::TCP module to build the server framework. Then you supply call-back routines and the framework handles the messiness.

I haven't tried this myself; when I've needed daemons, I just use fork() and cleanup the environment (interrupts, STD files, etc) to suit (Recipe 17.17, a couple of pages later).