What you are asking is independent of WAMP as such. Apache gives the best facilities for SEO or SEF URLs with mod_rewrite. The rest is up to your application. In a simple scenario, you can maintain SEF URLs in the .htaccess file, which helps to present simple links to your site in emails and printed material. To present your URLs in a search engine friendly format when rendering each page you would normally need a SEF application.
If you are running a CMS like Joomla, it has a number of SEF applications available. If you are using other extensions, you need to check that there is plugin in your chosen SEF application that supports each extension or plugin.