You can set up your customers so that they automatically receive their invoice through an email. There are a couple of different options for doing so. You can go through each company individually or you can set up a trigger that will do this for whatever customers you would like it to.
Setting Up Each Company Individually
Go to companies > The specific company name > Info (Its next to a pencil underneath the company name) > scroll down to the Financial Settings > Invoice Receipt Method > Email. Then you can select which company contact you would like the email the invoice to in the "Email Invoice To" section.
Setting Up Invoice Trigger