Without me knowing much of anything of the internals of CB, my guess is that's possibly a reference to the fact that Chicago Boss used to have a copy of simple_bridge rather than using it as a dependency.
Seeing as ChicagoBoss uses simple_bridge, it should be pretty easy getting it going with Yaws.
You could check out the yaws-specific code that's used by Nitrogen for using simple_bridge with Yaws: https://github.com/nitrogen/nitrogen/tree/master/rel/overlay/yaws (site/src/ is the code, and etc/ are the config files)
Yaws is definitely one of the simplest servers to interface with using simple_bridge.
-Jesse