You can use Estimates, Order, and Invoices for various combinations of order and invoice workflow. If your not quite ready for full blown Intuit Point of Sale but want to have a counter sales operation here is what you can do.
Click Create Sales Receipts, which is just above Receive Payments on your Home Page workflow diagram.
Use Create Sales Receipts to quickly enter counter sales for check, cash, and credit card payment. If you have Merchant Services you can swipe the credit card and enter the cvv code.
Click Print to print a receipt for the customer. Once you click Save, you can then make your deposit in Banking as normal.