Create a report with form and sub form fields.

Create a report with form and sub form fields.

I need to generate a report with fields from form and its sub form.

Use Case:

I have a form 'Invoice' with invoice #, invoice date and customer. I have a sub form 'Products' with product, quantity and rate. I would like to show a report in this format.

Invoice #     Date            Customer           Product      Quantity    Rate
2                6/16/2017    Customer A        Item A        1               12
2                6/16/2017    Customer A        Item B        2               10
3                6/16/2017    Customer B        Item A        1               12

Is this possible?