There isn't a way to fill out information on a Work Order and pass it back to the asset. That would have to be an enhancement request. However, There is a way to generate an inspection directly from the work order. Most inspections either have a field or grid in the asset module that displays inspection information. I think that could show what you are talking about.
To generate an inspection you go to the work order and right click on the Work Order asset that is being worked on and select "Create Asset Inspection Record". This resulting inspection is linked to the asset record and the work order asset record. If you are using the web you can do the same thing with the Toolkit button in the Work Order Asset grid.