As mentioned in question is there something like iPython's notebook (jupyter) for R-CRAN?
Have a look at Ramnath's R notebook:
http://www.youtube.com/embed/3niqZhc_Nbo
And here's the GitHub: https://github.com/ramnathv/rNotebook
EDIT (1/6/15)
I think the new editR package is what you're after
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