I would recommend you develop a written agreement between the companies about the services to be provided and make sure the terms are reasonable, market rates. Have the agreement approved by appropriate authority (Boards of Director, etc.) and document the approval. Then have the service providing company invoice the other company just like any other customer and pay the bills.
As long as your arrangement is reasonable relative to similar types of agreements in the open marketplace, you should have no problems.
Because it is impossible for me to identify and consider ALL the relevant facts, this advice is not intended or written to be used for the purpose of avoiding penalties, and cannot be used for that purpose.