The firewall does not resolve URLs. That would require a higher order firewall that is aware of the HTTP protocol contents. More Info on the OSI Model: http://en.wikipedia.org/wiki/OSI_model
The closest you will get with the network ACL's in VPC, is to resolve the domains you want to block to its IP addresses. However, this will block the entire site as well as any other domains that may also be hosted on the IP address. Also many sites will likely resolve to more than 1 IP address.
You may be able to install some kind of proxy/filter on the instances directly and handle the IP url filtering from there.