I want to create a pay your invoice page, a form that collects the name, address and lets the customer input the amount and then process payment via woocommerce as I am using square at this time.

For this, you can use the Name Your Price extension. With this, you can create an Invoice product, customers would be able to add the amount they have to pay, and then follow the default WooCommerce checkout process to pay.

I hope that helps.