Jeff-
The best way I've seen to accomplish this (page names as URLs without any file extensions) requires that you have access to your IIS server.  If so, you can use the terrific URL Master module to provide URLs that use your individual page names instead of all the TABID info.  This makes for friendly URLs and much improved search engine optimization (SEO).
 
If you do not have access to your IIS server, URLMaster will still do the trick except you'll have the ".aspx" extension at the end of each page URL.  You can also download a no-time-limit fully-functional trial of URLMAster to try things out (the trial puts a thin "buy this module now" banner across the top of each page).  URLMaster does a whole lot more than just make pretty URLs, by the way.
 
Cheers!
-mamlin