Since Grails has full integration with Java, you can use any Java library for this purpose. I ran a search on Google, and I got this response Java Library for Brazilian Electronic Nota Fiscal (NFe)
There are several alternatives. The easiest way for you to incorporate them into your project is to see if they are available in a maven repository, and then add them to your Grails project using BuildConfig.groovy (Grails 2) or build.gradle (Grails 3).
I have not yet worked with electronic invoice so I can not tell you which of the options available at the link above is the most appropriate. I also found this repository, it has been updated frequently, so it's also worth taking a look at: link
It is already available in maven repository, so it will be easy for you to put into your project. If you have any questions about how to incorporate a library into your Grails project, here's what I can do to help you, I just need to know which version of Grails you're using. Hugs.