Using invoicing systems to make it simple - While you can make up your own invoice or use a free template, it's often easier to use an invoicing system that offers more in depth features. Some invoice systems, like Harvest, offer the option to create estimates for big projects, keep track of multiple clients and send reminder emails when payments are late. Another option is Freshbooks, which offers similar features but includes profit and loss sheets, as well as trackers to help you manage your time.
Along with the payment terms, you can specify whether you charge a late fee for invoices paid past their due dates. Some freelancers like this option, to enforce getting paid on time. You may also want to include your tax ID number in this area for tax purposes.