I am assuming you have a Customer model and Invoice model, and Invoice model has relation belongs to customer, So you should create a relation from customer model which will be hasMany relation with invoice.
if you already have that great otherwise make sure you have that
now you can do like below from your controller or anywhere you are accessing customer model
$customer->invoices()->create([
'number' => $data['number'],
// other invoice fields...
]);
assuming you named hasMany as invoices in customer model it will return newly created invoice