You can use a mod rewrite to do this. The concept is covered in the eCart Webinar. You basically add a field to the product insert and update page on the admin to specify the url slug (everything after the last slash). Then you use a mod rewrite to pass that information to the product details page as a url parameter. The final step is to use the url parameter to filter the product recordset.
This is something I could help with in a premier support ticket, however if you are doing it purely to impact SEO, then don't bother. Google and other search engines don't improve ranking based on URL anymore. The very term "search engine friendly url" is out of date since search engines don't care and suggest against this very concept: https://webmasters.googleblog.com/2008/09/dynamic-urls-vs-static-urls.html
Now they are called "user friendly urls" and their only benefit is to look better when say posted to a forum or if you have a list of links you have saved in a text document and don't want to have to include a description of what it links to. There is no SEO benefit to rewriting URLs like this.