First, take a look at your Sale/Purchase configuration.

Sale workflow configuration

• To configure the sale workflow, go to Settings > Configuration > Sales. Inside the Invoicing Process section, select your sale workflow. To see the full functionality of this module, make sure that the option Generate invoices after and based on delivery orders is checked (this will give you the possibility of generating the customer invoice taking the accounting data from the outgoing picking instead of from the sale order). This option is mandatory if your sale workflow starts from pickings and you don't use sale orders. In this case you must also set the Invoice Control field to To Be Invoiced in each picking (inside the Additional info tab).
• To use pricelists and therefore, other currencies (if you have allowed multi currencies in Invoicing), check the option Use pricelists to adapt your price per customers under the Quotations and Sales Orders line, inside the Customer Features section. This option will make available the pricelists in sale orders and in pickings too.
• To use different addresses for delivery and invoicing, check the option Allow a different address for delivery and invoicing under the Quotations and Sales Orders line, inside the Customer Features section. This option will make available the addresses in sale orders and in outgoing pickings too.
• To use discounts per line, check the option Allow setting a discount on the sales order lines under the Quotations and Sales Orders line, inside the Product Features section. This option will make available the discounts in sale order lines and in stock moves too. As Odoo uses two separated models for purchase orders and sale orders but only one for stock pickings, this setting will allow discounts in both incoming and outgoing stock moves.

Purchase workflow configuration

• To configure the purchase workflow, go to Settings > Configuration > Purchases. Inside the Invoicing Process section, select your purchase workflow. To see the full functionality of this module, select the option Based on incoming shipments (this will generate the supplier invoice taking the accounting data from the incoming picking instead of from the purchase order). This option is mandatory if your purchase workflow starts from pickings and you don't use purchase orders.
• To use pricelists and therefore, other currencies (if you have allowed multi currencies in Invoicing), check the option Manage pricelist per supplier under the Purchase Order line, inside the Supplier Features section. This option will make available the pricelists in purchase orders and in pickings too.
• To use discounts per line, check the option Allow setting a discount on the sales order lines under the Quotations and Sales Orders line, inside the Product Features section. This option will make available the discounts in sale order lines and in outgoing stock moves too.

Once you have your own configuration set, you can work as always.

Outgoing picking valued

• Go to Sales > Sales > Sales Orders, and create any order.
• Confirm the order, and then, click on View Delivery Order.
• Transfer the picking, and then, click on Create Invoice.
• Check that the accounting data has been moved from the sale order to the outgoing picking and from this one to the customer invoice.
• If your workflow starts from pickings, ignore the first two steps and go to Warehouse > Operations > All Operations > Delivery Orders to create a picking instead.

Incoming picking valued

• Go to Purchases > Purchase > Purchase Orders, and create any order.
• Confirm the order, and then, click on Receive Products.
• Transfer the picking, and then, click on Create Invoice.
• Check that the accounting data has been moved from the purchase order to the incoming picking and from this one to the supplier invoice.
• If your workflow starts from pickings, ignore the first two steps and go to Warehouse > Operations > All Operations > Receipts to create a picking instead.

Finally, to get a valued picking report, go to the picking tree/form, select the picking/s and click on Print > Picking Valued at the top of the view.