The common approach to this is "merging upwards". From man gitworkflows
:
Always commit your fixes to the oldest supported branch that require them. Then (periodically) merge the integration branches upwards into each other.
This gives a very controlled flow of fixes. If you notice that you have applied a fix to e.g. master that is also required in maint, you will need to cherry-pick it (using git-cherry-pick(1)) downwards. This will happen a few times and is nothing to worry about unless you do it very frequently.
The first method is of course preferred - it's good to have a commit in your repo only once, and to be able to see the history of how it got into each branch. Life isn't perfect, though, and you'll sometimes find yourself in the second category. If that situation becomes common enough, you could perhaps write a script like
multi-cherry-pick <commit> <branch> [<branch>...]
which checks out each branch in turn and cherry-picks the given commit.