ParseExact is told the format of the date it is expected to parse, not the format you wish to get out.
$invoice = '01-Jul-16'
[datetime]::parseexact($invoice, 'dd-MMM-yy', $null)
If you then wish to output a date string:
[datetime]::parseexact($invoice, 'dd-MMM-yy', $null).ToString('yyyy-MM-dd')
Chris