I'm 100% sure you can, as long as your not copying open source code from other plugins that don't allow for building off of them with a commercialized product.
Example plugin with paramterized url/dynamic template
Would be great to see a skeleton of a plugin that supports parameterized (/someplugin/:someid) urls as well as dynamic templates.
this plugin shows you how to create new routes, and static templates. I should update this example to show how to utilize dynamic templates but it would be something along the lines of
(totally off the top of my head... but yeah when I get the time I'll update the plugin to do the above)