Yes, you can, Kay12.

Let's make sure that after creating the estimate, we'll have to delete the invoice. This is to avoid any duplicates.

Afterwards, you're good to create an invoice out of the created estimate. Here's an article that will guide you on how to do it: Convert an estimate into an invoice.

Also, if you only want to create a partial invoice from the  estimate, you can set up and send progress invoicing.

I'm just around if you need more help.