Hello,
The URLs should be created automatically.
First install the extension using the standard Joomla installer. Then go to Manage Extensions in JoomSEF control panel, open the VirtueMart extension parameters, and on the Common tab make sure the Handling option is set to JoomSEF handler. Then go to Manage SEF URLs and make sure all there are no URLs created for the VirtueMart component, otherwise delete them. After this clear the JoomSEF's cache using the button in JoomSEF control panel.
Then all the VirtueMart URLs should be created using your new extension.
Best regards,
ARTIO Support Team