Yeah, that's what people in the US did before everyone had credit cards. Cash on delivery. Growing up, I remember hearing ads on TV that said "no COD" when that service was being phased out. More and more people were using credit cards.
You're right, many countries could use trusted couriers in order to spur local markets and economic growth.
Here in Taiwan you can have something sent to 7-11 or Family Mart and pay for it there. There are tons of these shops everywhere, and with the receipts lottery, the government guarantees it gets enough taxes even in a cash-based society. It's a pretty cool system and often feels funny how convenient 7-11s are here. In the US they're just a snack shop. Here you can have packages sent, do laundry, pay bills, ...