Are you referring to QuickBooks Online? If so, we don't have the option to create, edit, and print it without an invoice or sales receipts here in QBO.
However, you can consider looking for a third-party app that will let you create and print a packing slip without an invoice. To look for one, open your QBO account and go to the Apps menu.
You can also create an estimate since it's a non-posting transaction. Here's how:
1. Go to Sales from the left side panel.
2. Create an Estimate, then go to Customers.
3. Click the name of the Customer.
4. Click the Estimate you created, then click Batch actions, then Print.