Incident notes added by incident task

Is there away to add notes to the incident based on task process.

How could you add a note to an incident window based on task process where by a person enter information into the task and it creates the note on the incident tree if this is even possible.  Reason for this is help desk are working with the tasks based on the incident and instead of the technician going through all the tasks attached and there notes I would just like them to see the notes coming through on the incident window tree.

Alternatively as a fallback a Tab showing the notes from tasks would work, but I would rather the above option.

Thanks.