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There is no way you can update that field from Marketo. This is exactly what this idea: Have extended Marketo Program member fields and use them to full power (with or without SFDC campaign member field sync) is about. Vote for it,
A work around would be to also create a lead and contact field in SFDC, populate that field in Marketo, then have a trigger in SFDC that takes that info a copies it to the campaign member.
Is there an easy way: no
But, you could do it:
1. updating the field from Marketo: you could fire a webhook from your campaign and have this fire a custom web service you've setup in SFDC to update the campaign member's additional notes field
2. showing a smart campaign result in sfdc: not the result of the smart campaign per say, but you can see the program member status on the campaign member object. This could be bubbled up to the lead/contact if needed.
The approach Greg suggested would work too, you would just need something in SFDC to identify which campaign member to update if this is being done across more than one marketo program / sfdc campaign.