We describe a method of construction of gauge-invariant operators (Dirac observables or "evolving constants of motion") from the knowledge of the eigenstates of the gauge generator of time-reparametrisation invariant mechanical systems. These invariant operators evolve unitarily with respect to an arbitrarily chosen time variable. We emphasise that the dynamics is relational, both in the classical and quantum theories. In this framework, we show how the "emergent WKB time" often employed in quantum cosmology arises from a weak-coupling expansion of invariant transition amplitudes, and we illustrate an example of singularity avoidance in a vacuum Bianchi I (Kasner) model. * Gauge conditions of the form given in (5) are sufficient for our purposes, although more general gauge conditions are possible [12].† This corresponds to the statement that invariant extensions are obtained by writing gauge-fixed quantities in an arbitrary gauge.