How to deliver a product without a PO & SO

Can anyone tell me a way by which I can transfer material from one company to another company under the same controlling area. The vendor company uses SAP-PS . How to deliver material incase there is no PO raised ?
The vendor company doesn't wants to charge profit from the other and at the same time doesn't wants to use the PO SO route and at the end ammend the PO SO to do invoicing.
Is there any other way to receive order and deliver material thru SAP-PS.

Hi
As for as my knowledge goes I think this can be handled through inter company stock transfer.
Chandra

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