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Let's fix the error when your customers try to download their invoices, @annmharward.
First, make sure to let them download the invoice using a supported and up-to-date browser. Check this article for more information: System requirements for QuickBooks Online.
Then, let them ensure to have the latest Adobe Reader/Acrobat. They can go to the Adobe website for detailed instructions on how to update or repair this one.
In case they're using Firefox as a browser, they'll need to change the PDF viewer in that one. To switch to the Adobe PDF handler:
For other browsers, you can check this article for more information: Resolve PDF printing issues.
Let me know if there's anything that I can assist in resolving the error when trying to print PDF files, by leaving a reply below. I'm always glad to help in any way I can.