To create SEO-friendly URLs, it's recommended to keep them concise, descriptive, and readable, incorporating relevant keywords that accurately represent the content of the page. Avoid using numbers, symbols, and special characters whenever possible, opting instead for hyphens to separate words. Additionally, ensure the URL structure is logical and hierarchical, reflecting the site's architecture, and aim for static URLs rather than dynamic ones, which can be more easily indexed by search engines. Lastly, prioritize user experience by making URLs easy to understand and memorable, as this can contribute to higher click-through rates and improved search engine rankings.