Applying Accounts Payable to Accounts Receivable Open Invoices

We have some companies that we work with. They are vendors and customers in our Sage 300. There are times when they owe us money in AR and we owe them money in AP. Is there a way to offset the balances?

For example, in AP we owe them $100. In AR, they owe us $100. How do we fix this?

Seems silly that we cut them a check for $100 and they send us a check for $100. Adjusting both of them is odd too. If we do services for them and they do it for us, do we adjust them both to zero? If so, it will show that services or products were not exchanged. We can't be the only ones with this issue. 

We are looking for the best way to resolve this issue or is there an Add On? Any help would be appreciated.