Hi, John,
No, you can't reverse an already Cleared cheque. Only Outstanding cheques can be cleared.
You can manually reset up the invoice to be paid again. While you won't be able to use the exact same invoice number, maybe just add an A or something else to make it different. And, you can put a brief comment in the Description indicating what it's being set up again if need be.
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Regards,
Softrak Tech Support