Best way to let Search Engines naturally index the inner pages is to flow the PR juice to the relevant important topic pages. So, if you have a PR5 homepage .. use nofollow and **************** attributes to distribute the PR juice. Check you google analytics stats to see what pages are not getting the love and then provide those pages with some PR.
This is the most natural and search engine friendly method to do the task. Pinging several pages at once will seem spammy and get the SE to put a yellow flag. This is the method used by all the big websites, blogs , e-commerce sites etc.
I hope this helps. If you have any other questions, You are welcome to PM me.