It is not mandatory for an asset to have an attached invoice to it. The asset may be acquired or transferred and hence may not always need an invoice and so
Oracle fusion does not automatically create an invoice for a manually added asset. However, you can create an asset from-
an invoice in payables

While creating the invoice, you must charge the distribution to a clearing account that is already assigned to an asset category and then run Create Mass Addition Program,
For the mass additions create a process to import an invoice line distribution to Oracle Assets, these specific conditions must be met:

The line is charged to an account set up as an Asset account
The account is set up for an existing asset category as either the asset clearing account or the CIP clearing account
The Track As Asset check box is checked. (It is automatically checked if the account is an Asset account)
The invoice is approved
The invoice line distribution is posted to Oracle General Ledger from Payables
The general ledger date on the invoice line distribution is on or before the date you specify for the create program

Your installation of Payables must be tied to the same general ledger set of books as the corporate book for which you want to create mass additions 

However, you can use FA_Asset_Invoices table to know the Account Payable and purchasing information for each Asset