This is tricky. ASPDotNetStoreFront required ids for any product/category/section. If you don't include it in the route in web.config, it will simply append it or expect it as a querystring. IE /your-se-name.aspx?sectionid=45. It will also require some sort of text to differentiate section from product from category from topic, which is why it uses "s-", "p-" and "t-".
That is the bad news, the good news is you can modify the URL rules in web.config and SE.cs if you have full source to ignore this. We have done this for a customer where they modified their urls to be: "sectionsename/productsename". They are required to maintain unique Section SEName / Product SEName combinations for this to work as their is no ID in either case. We may have needed to modify routes.cs as well, but I don't remember off hand. I know we created our own implementation of IRouteHandler which determined the sectionid and added it to the request context. This way the entity / prduct pages that required the IDs did not have to be altered.
In short it is doable, but takes some work.