Is it possible to change a product url? Or even a category url?

For example I have "MyStoreName.com/index.php?main_page=index&cPath=1_96" for a product url and I have to say that's ugly.


Is there a way it could be changed to something like "MyStoreName.com/Category" or "MyStoreName.com/SpecificProductName"
I have looked through the admin and new product/category page and don't see anything that affects the page URL.

Thanks Everyone!