After creating a pick ticket for a sales order, you can convert it to shipment right away at a later time.
To convert a pick ticket to a shipment, navigate to Order Management >> Pick and Pack. Locate the pick ticket you are after, open it and click the Pack & Ship button.
Select all or some of the items in the pick ticket you would like to ship.
Note: If you select some of the items instead of all, you will need to update the pick ticket to reflect only the selected items as shown in the illustration below. The unselected ones will be added back to your stock.
Finally, click the Ship Now button to generate the shipment. If all goes well, you will see the shipment like so: