Tony Garcia mentioned it there in a comment and since then Jamie Krug mentioned it in a comment on the Railo blog:

Tomcat can do SES URLs, albeit with some limitations.

If you set the <url-pattern> to /index.cfm/* then Tomcat will handle URLs of the form /index.cfm/event/product/id/1234 correctly.

If you use multiple entry points with SES URLs, you will need a servlet mapping for each URL. For example, on this site I have /index.cfm for my personal site and /blog/index.cfm for this blog. By adding URL patterns for both /index.cfm/* and /blog/index.cfm/* I can use SES URLs natively with Tomcat on both of those applications.

So, not a new tip but I felt it was worth surfacing it in its own blog post. Thank you Tony and Jamie!