You have to create a route to have hyphens since they map to a controller method that can't have hyphens. If you are using just a view file to display a page (Opt-In Controller http://docs.getfuelcms.com/general/pages-variables), FUEL will look for whatever the view file name is and it can include hyphens.
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In ./fuel/config/config.php
$config['permitted_uri_chars'] = 'a-z 0-9~%.:_\-';
This defines what characters are allowed in URLs so in theory, yes.
However, there doesn't seem to be a natural way to achieve it since you can't have a hyphen in a class name.
It seems a bit unnatural to add to routes to achieve this.
A number of CodeIgniter user seem to suggest that replacing underscores (_) with hyphen (-) is a more suitable solution.
* http://21coder.com/2013/10/how-to-replace-underscore-_-with-hyphen-in-codeigniter/
* http://ianluckraft.co.uk/2011/01/codeigniter-allow-hyphen-in-url/
* http://www.bappi-d-great.com/use-hyphen-in-codeigniter-url/
* http://upshots.org/php/codeigniter-hyphenated-urls
Is there any reason that Fuel CMS wouldn't adopt this approach?