Here is a good answer:
Add custom route handler (in replace part choose how you want to handle hyphens):
public class HyphenatedRouteHandler : MvcRouteHandler
{
    protected override IHttpHandler GetHttpHandler(RequestContext requestContext)
    {
        requestContext.RouteData.Values["controller"] = requestContext.RouteData.Values["controller"].ToString().Replace("-", "");
        requestContext.RouteData.Values["action"] = requestContext.RouteData.Values["action"].ToString().Replace("-", "");
        return base.GetHttpHandler(requestContext);
    }
}
and use it in your RouteConfig
routes.Add(
        new Route("{controller}/{action}/{id}",
            new RouteValueDictionary(
                new { controller = "Home", action = "Index", id = UrlParameter.Optional }),
                new HyphenatedRouteHandler())
        );