How do I setup Staff Action Plan Actions to prompt for Daily Notes

After opening a Program in edit mode, and selecting the Program Operations tab...

Add a new Staff End-of-Day or Household Activities action by clicking on the '+' (conversely, select an existing action and click on the '-' to delete it):

Click on the newly created action (or an existing action) and check the box "Prompt for Notes"

That will open up additional options for the checklist item:

Select the checkbox "Count as Daily Note" so the entered note is the "Daily" note.