You can issue a sales order and ship the goods to your selling partner without an invoice. The process has to start from a Sales Order where all the items should be included.
When you ship (consign) the items to the client, you shall choose Goods Outbound (as the document type) and not Goods out and Sales Invoice. That means you ship without invoicing the client.
For the returns, you create a Return of Goods from Client to get the shipped (and not sold items) back to your warehouse. The system notifies you about the number of products that can be returned. You cannot return more quantity than the quantity of the related Document.