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Create an action - 'Open in Notepad'
Start => Run => 'regedit'
HKEY_CLASSES_ROOT => *
Create a new key 'Shell' and then 'Open'
Modify the 'Open' value to 'Open in Notepad'

Create a new key 'Command'
Modify the 'Command' value to 'notepad.exe %1'

The result (when you highlight a file and right click):

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