How can I add keyframes for FLV files without reencoding?
You can't.
A keyframe, or I-frame, is a frame that stands on it's own - it doesn't require any frames before or after in order to be decoded. Other frames are P-frames (which require one or more previous frames to be decoded, and base their contents on changes made to the previous frame rather than forming a complete picture in isolation) and B-frames (the same as P-frames, but reference frames both before and after them).
In order to change a P- or B-frame to an I-frame, you need to decode and then re-write the video stream. So you can't add keyframes without re-encoding.
Have a look at the x264 encoding guide on the ffmpeg wiki for some tips on how to get a good-looking encode.