Nginx - just remap the urls. We run http://carrot.is (not meant to be a plug, just an example) served statically via nginx and the urls are "pretty". You can use a little statement like this in your nginx config:
Offtopic - your username reminds me of a line from the Beverly HillBillies that went something like: "Hi, I'm Jethro Bodine; initials JB. Turn it around, BJ -- Boy Jenius." Ha ha.
+1 to jenius for a server-side solution but in addition:
Yeoman helps manage and coordinate various build tools, but for pretty permalinks on your production build, you're probably going to need something like a plugin for `grunt build` that renames files as they're copied into your /dist directory.
For development we use grunt-connect-rewrite. It is a middleware for connect (which yeoman uses) that allows you to write custom rules similarly to how you would implement them in Apache.
