If you just use cork, rubber, or similar the same size as the clamp, then you will probably still be marring the workpiece. However it will have a soft edge to the damage and so not so noticeable. The exception would be where the cork etc provided better grip and the clamps are not tightened so much.
If you are pulling pieces to together, then a piece of ply, say x3 the clamp size will reduce the pressure (not the force) by up to 1/9th.