For SEO purposes, probably the best is the first example: my-url.html, But overall IMO the better choice is: myUrl.html Is easier to type, also the extension is more accurate with .html, although doesn't matter for SEO purposes.
I recommend dashes or underscores for words in urls. You may read the article of Matt Cutts http://www.mattcutts.com/blog/dashes-vs-underscores/
First or second either one is good. Although first one is more common pattern to use. Third one got a special character +, which is not good idea.