I personally use in my projects something like /product-name/p/1 and this is SEO friendly. To get your links to look like that you have to first change your url rules
'urlManager' => array(
'urlFormat' => 'path',
'showScriptName' => false,
'urlSuffix' => '/',
'rules' => array(
'<title:.*?>/p/<id:\d+>'=>'product/view',
),
),
Then use this to create your URLs.
Yii::app()->createUrl('product/view',array('id'=>$model->id, 'title'=>$model->name))
Now it works both ways, the create url will always create urls like /product-name/p/1 and further more you can show the product the normal way
/**
* Displays a particular model.
* @param integer $id the ID of the model to be displayed
*/
public function actionView($id)
{
$model = $this->loadModel($id);
$this->render('view',array(
'model'=>$model,
));
}