Custom URLs for blog posts?

I’ve noticed that some sites have custom information in the URL of the post, like this post on IndieGames about a browser game called Paper Cakes (no need to follow the link, just look at the URL):

https://www.indiegames.com/blog/2010/01/browser_game_pick_paper_cakes.html

When I post, I get a numbered URL like this:

https://www.uncommonassembly.com/?p=1182

Is there any way to create a custom URL for a WordPress blog post, that would, for instance, add the post title to the URL, so it might instead look something vaguely like one of these?:

https://www.uncommonassembly.com/devilstuningfork.html
https://www.uncommonassembly.com/blog/devilstuningfork.html
https://www.uncommonassembly.com/blog/2010/01/devilstuningfork.html