Velocity is part of the Note On message so there's only one per note; it's not technically a controller, but SONAR displays it that way for editing convenience and consistency. Proper controller messages are also discrete events; nothing is sent between the "telegraph poles".
You can, however, create MIDI automation envelopes that will send interpolated controller messages according to the envelope shapes between automation nodes. Here's a screenshot of a Re-recorded MIDI envelope which was then converted back to an envelope by the option in the clips menu. This is X3, but pre-X-series versions can do the same.