Searching the APEX Forum for nice URLs is as old as Oracle APEX itself, so far without much luck. There is magic switch that forces APEX to create readable URLs.
As part of preparing my Presentation “Going Public” for Kscope 2014 in Seattle, I investigated the available methods on providing readable URLs and found some good ones.
You can check this public APEX website to see how good URLs can look like: www.click-click.at