We do recurring ACH via SPS. The customer sends us their bank info, and we set it up. Before each batch of pulls there can be several in a month, say 5th and 20th), we approve the SPS batch as correct. Then SPS sends the customers an email, which they could use to decline. Then SPS pulls the funds from the banks.
This is input by the vendor (us), so it's not what you were looking for, but runs on autopilot afterwards.
It is also decoupled from recurring invoices in accounting system, which has its advantages:
1. It is not dependent on any company person to trigger (although we must take action on the SPS batch monthly) so more foolproof.
2. It also follows the rule to ""invoice 1st, pay later"" even if that payment is only immediately after deliver/invoice.
So you would run the recurring invoices 1st of month, effectively permitting accurate open invoice reporting. Then show the invoices as paid when the ACH/CC batch posts to the bank. This follows normal business process.
Both APS and Direct Connect also support this recurring action, with more flex and faster payments.