I have no direct experience of any of the CMS systems you’re referring to, but generally, the ‘static/html’ page options on these kind of things use mod_rewrite to generate the search engine friendly URLs.
mod_rewrite is *nix/Apache specific. The Windows server equivalent is an ISAPI filter. You can buy commercial ISAPI rewrite filters from several companies that will help you generate search engine friendly URLs. All very easy to install and get working. Just do a Google search for ‘ISAPI rewrite filter’ and you’ll find them.