MySQL:actualice todas las filas en una tabla que coincida con los resultados de otra consulta

Uso de subconsultas

Opción más admitida

UPDATE INVOICES
   SET s_id = (SELECT cs.s_id
                 FROM CUSTOMERS_AND_SALES cs
                WHERE cs.c_id = INVOICES.c_id),
       s_name = (SELECT cs.s_name
                   FROM CUSTOMERS_AND_SALES cs
                  WHERE cs.c_id = INVOICES.c_id)
 WHERE INVOICES.c_id IN (SELECT cs.s_id
                           FROM CUSTOMERS_AND_SALES cs)

Uso de JOIN

UPDATE INVOICES
  JOIN CUSTOMERS_AND_SALES cs ON cs.c_id = INVOICES.c_id
   SET s_id = cs.s_id,
       s_name = cs.s_name