I'm going to assume you mean the Notes that are on the Attachments tab. If that is true then the Notes are just text attachments and you should be able to get to the attachments (Notes) that are associated with each task and then maybe direct the output to a Set Value task to format the Notes and then send the results to a Print task. (Sounds easier than it is.)
I have not tried the above suggestion but that's the thought that came to me :-)
Hope it helps,
Robert