Tax Setup - when company pays on behalf of customer

We have a requirement that Tax setup should be such that customer is not charged US sales tax but it is paid by the company itself.

In other terms, on AR Invoice, Tax get calculated and then reversed to zero.

On the AR Invoice print, it should show that tax was charged and then an adjustment is made.

For accounting, it should do the following accounting:- Invoice $100, Tax $10

Debit Receivables $100

Debit Expense (as it is company's expense now) $10

Credit Revenue $100

Credit Sales Tax payable $10

How can we achieve this?