1 - Create a free taxt invoice template with header...
2 - Assign the template to the customers that you want to invoice.
3 - Process the recurring invoice by specifying the invoice..
4 - Post recurring free text invoices through the periodic posting button
5 - Print recurring free text invoices
Reference:
https://docs.microsoft.com/en-us/dynamics365/unified-operations/financials/accounts-receivable/set-up-process-recurring-invoices