Automatic Shipping and invoice Order Entry

SUGGESTED

Here is our scenario. We give a customer a qoutation  in Order entry. The customer then goes to the cashier to pay or payonline. Then the receipt is taken back to our sales team to ship and create invoice. Isnt there away that at the time of paying the cashier can alocate the payment to the qoutation/Order  and it will automaticaly ship and invoice. Sometime the orders\remain in the system because sales team did not get a receipt after payment. 

We did not want to go the POS route, but if its the only way that we can mangage this, then which POS will be suitable?