You have to set a default Order Type even for a STO Outbound Delivery (DL is the standard). If you try to create a delivery via VL10B without copy control from delivery to that order type (DL), the system will throw an error.
STO Outbound Deliveries are kind of a hack job from SAP, which is a bit strange considering their importance. Although you don't have a sales order, it uses configuration from orders (like schedule line configuration to determine the movement type in PGI).
EDIT: You asked about intercompany but it's the same as for STO.