This is true if $I=\{a_1,\dots,a_n\}$ is a finite set of positive integers. Namely, if $\gcd(a_1,\dots,a_n)=1$, then for all sufficiently large $N$ there is a non-negative integer solution $(k_1,\dots,k_n)$ to $$k_1a_1+\cdots+k_na_n = N.$$ In other words, the monoid generated by $I$ consists of every natural number except for possibly finitely many exceptions.
I want to consider an infinite set $I=\{a_1,a_2,\dots\}$ an infinite set of positive integers with $\gcd(a_1,a_2,\dots)=1$. Then is it true that for all sufficiently large $N$ there is a non-negative integer solution $(k_1,k_2,\dots)$ to $$k_1a_1+k_2a_2+\cdots = N$$ where $k_i=0$ for all but finitely many $i$?
My attempt: It's enough to find a finite subset of $I$ with gcd 1, and then we can apply the result of the finite case. To do this, set $b_1=a_1$. Then $b_1$ has finitely many prime factors, and we can let $p$ be the smallest. Since $\gcd(a_1,a_2,\cdots)=1$, there exists $a_i$ such that $p \nmid a_i$. Set $b_2=a_i$. Now $\gcd(b_1,b_2)$ has strictly fewer prime factors than $b_1$ (since $p$ is not one of them), and we can let $p'$ be the smallest. Again, there must be $a_j$ such that $p' \nmid a_j$, so set $b_3=a_j$. Then $\gcd(b_1,b_2,b_3)$ has strictly fewer prime factors than $\gcd(b_1,b_2)$. Continue in this fashion, and since the number of prime factors of $\gcd(b_1,\dots,b_t)$ is strictly decreasing with $t$, there must be $T$ such that $\gcd(b_1,\dots,b_T)=1$. Is this correct? Is there a simpler way to arrive at this result?