There is no formula or function that will do what you want.
However, it is a relatively simple for a macro to perform this task. There are two obvious ways to invoke the macro: 1) after selecting the four cells, press the shortcut key to invoke the macro and 2) create a the macro as a selectionchange event in the data worksheet.
The macro would process each of the selected cells and copy the contents to the appropriate cell in the invoice work sheet. If it is an event macro, there is a necessary preliminary check to confirm the selection range is exactly 4 columns wide and 1 row tall. This will prevent the macro from copying data as you try to enter or update individual cells.