If you want to do the purest form of SES URLs (http://site.com/controller/action) , it requires the removal of the index.cfm which involves having to do some URL rewriting on the web server side. No framework that I know of can avoid URL rewriting if you want to remove the index.cfm
IIS7.5 supports it natively using the web.config or using built-in wizards; Apache has mod_rewrite via .htaccess. There are 3rd party products for IIS6/7.
If you want more power/control, you can also check out using coldcourse (http://coldcourse.riaforge.org) as mentioned here:
How do I create Search Engine Safe URLs in Fusebox 5.1 noxml?
As the poster mentions, apparently there is built in URL rewriting in FB 5.5 but I'm not familiar with 5.5 intimately.