Is it possible to transfer ARs for company A to APs for company B since both companies are setup in

Hello;

we have two companies setup in our JDE system. Company A is providing services and Assets to Company B. The process we are doing right now is: company A records the transactions as receivable and creates invoices to company B, and then company B records the invoices as Payables to pay company A. My question is,since the information is already entered in the system(as receivables), is  there any way that we can transfer the AR entries for company A to AP entries for company B so company B does not have to key in the invoices to the system? Please