Billing between companies

Dear all,
I need to configure SAP in order to be able to bill some services that are invoiced from one company code to another. I would like to keep it simple and also avoid work duplication. We have: company A invoicing value X to company B. This means a debit note is created in company code A for customer B and in company code B that value is registered as a cost in a document.
Can i reproduce this process through intercompany (because there are no materials or stock)? Should i use idocs? Can anyone give me some tips?
Thank you!
Best regards
Joana Trigo

Dear Murali,
thank you very much for your answer. I've already looked for that option but these operations include VAT and that process doesn't work well: 1st, because it considers VAT amounts in a single company and afterwards we have to run a report (report RFBUST10); 2nd, because of the following: imagine that for company code A you want:
50     profit account (7214000)                 u2013 net value
50     VAT account (2433100)                  - vat
01     Customer account (company B)        net value + vat
that corresponds to a posting for company code B like the following:
40     cost account (6221120)                     net value
40     VAT account (2432300)                     vat
31     Vendor account (company A)         - (net value + vat)
If you do like mentioned the system will create 2 documents, one for A another for B like this:
A:
50     profit account (7214000)                 u2013 net value
50     VAT account (2433100)                  - vat
40     VAT account (2432300)                    vat
01     Customer account (company B)        net value
For company code B:
40     cost account (6221120)                     net value
31     Vendor account (company A)         -  net value
So at the end, values posted to customer and vendor are net and not net+VAT as they should be.
Best regards
Joana Trigo

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