Yes - you would setup a Field Update workflow rule in Salesforce. First you need to create the fields (when I say Marketing Waterfall, Im just referring to how marketing wants to define the stages). Sales wants to see 'Assigned', but I want to see 'MQL' - hope that makes sense. So you yould set the workflow field update to say when a lead is created and marked 'Assigned' then stamp the MQL field with the date. When that status changes, stamp the next waterfall, etc.