You can use the following query:
UPDATE im
SET mf_item_number = (some value)
FROM item_master im
JOIN group_master gm
ON im.sku = gm.sku
JOIN Manufacturer_Master mm
ON gm.ManufacturerID = mm.ManufacturerID
WHERE im.mf_item_number like 'STA%' AND
gm.manufacturerID = 34 `sql`