With WordPress it is easy to activate readable URLs. Only the search page is not affected by the setting yet, it comes with the syntax ?s as default. But there is a solution to change the URL as you wish.
The following example shows that even if you have permalinks activated, that the URL for the two searchterms wordpress and consulting looks like this:
bueltge.de/?s=wordpress+consulting&submit=Search. With a little function, which communicates with the redirect, you can adjust the URL. In my case the URL with the two searchterms look like this with the following function:
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