As mentioned in question is there something like iPython's notebook (jupyter) for R-CRAN?
Just like with Jupyter, you can also work interactively with your R Markdown notebooks. It works a bit differently from Jupyter, as there are no real magic commands; To work with other languages, you need to add separate Bash, Stan, Python, SQL or Rcpp chunks to the notebook.
An R Notebook is an R Markdown document that allows for independent and interactive execution of the code chunks. This allows you to visually assess the output as you develop your R Markdown document without having to knit the entire document to see the output.
Jupyter Notebook (formerly IPython Notebook) is a web-based interactive computational environment for creating, executing, and visualizing Jupyter notebooks.
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
https://github.com/swarm-lab/editR
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