The MaidCentral Charge Customers report can be found under Company > Invoicing & Payroll > All Reports > Charge Customers.
The Charge Customers report ONLY works for customers with their Billing Terms set to Credit Card, and have a credit card on file. You can charge a customer for a future date or date range using a flat rate or percentage of their upcoming bill amounts. You can use the Charge Customers report to pre-charge for a deposit before their first scheduled cleaning.
This will create a credit invoice for them in Quick Books Online (QBO). Once the date has arrived for that job, you would still create invoices from your Invoicing & Jobs records page for that day to deduct the amount from their credit balance in QBO after each cleaning or cleanings are completed.