Once your customers have added their payment details (Credit Card or Direct Debit) its possible to charge previous orders which are outstanding.
We do however strongly recommend communicating with your customers prior to taking payment for oustanding orders.
How to take payment for an outstanding order
Go to the order you want to take payment for
Orders placed prior to a customer adding their payment details will have an "Invoice Payment Method" of Other and a "Current Payment Method" of Credit/Debit Card or Direct Debit
Simply click the Charge Now button to take the payment