All you need is a plugin that convert your dynamic page's URL into a SEF (static pages) URL when requested. Once you have that SEF (search engine friendly or static like page) google will crawl and index that page into its search index. Although google can crawl your dynamic pages (pages with ?) as well. It really does not matter the pages exist on the server or not. Since a CMS driven site really do not have the physical pages present on the server (otherwise what is the use of CMS?) so you need not to worry about that.