Hi Vivek,
In the case of customer receivables, you can set-up a company code as a customer. For example you have company code 0001 and company code 0002. You want company code 0001 to collect from company code 0002. You can simply set-up company code 0002 as a customer in company code 0001. Let's say company code 0002 will be customer number 11002. You create a customer invoice for 11002 in company code 0001 and then run F110.
Postings will be the same as how normal customers are.
Hope this helps!
Josef