It’s not possible. It is an inherent feature of frames in HTML, and often mentioned as a fundamental problem with them, that a combination of frame contents (“state of a frameset”) has no URL of its own.
There’s a workaround that may be applicable in simple cases: construct a small frameset page of your own, imitating the site to be linked to. Include the header, navigation, and other frames that have the same content over the linked site, using absolute URLs that correspond to those on the linked site. Using server-side or client-side technology, make your page URL work with a query part that contains the name of a specific content to be displayed in the content frame. And you would then link to this frameset page of yours, with varying query parts as needed.
This wouldn’t handle any changes in the navigation frame (such as showing the current page as a non-link or as highlighted), though this could be accommodated with extra code along the same lines.
The workaround would be fragile (changes in the linked site can easily mess it up) and might raise copyright issues.