What I do is just keep a daily, monthly and yearly record of each job done on a spreadsheet. I also set the spreadsheet up to record daily income without the finer details as my accountant only wants the dates and numbers without the other details. I print off the details once a year. Doesn't take long really.
As for jobs that do require printed invoices, I keep a record of those on a separate database. I have a mailmerge document in a word processor that prints these off. A bit clunky to set up and a little top heavy to maintain. It's fine once you get used to it though.
Also, as the work is often repeated in a similar sequence, it's usually possible to copy & paste from one part of the spreadsheet to another and just make any alterations after doing it (e.g. insert extra job, remove a job that was done last time but not this time etc.).