I am afraid that cannot be done. Traditional URL filtering works by parsing the 'Host' header of http and deciding if the URL has to be permitted or blocked.
But in case of https, this data is encrypted and the firewall has zero visibility into this
One workaround I can think of is to figure out the IPs used by the website and block them. But incase of large websites like FB, it is almost impossible to do that, as they use multiple servers.
A better option would be to involve a proxy server or an IDS device which can offload SSL and then inspect underlying HTTP.