Practically any amp with RCA or 3.5mm input will take that. In case of the 3.5mm input amps, you can just buy an rca to 3.5mm cable, and hook that up to the amp. I did this with a lowly Fiio E5 and it worked quite well. Sure, a beefier amp will provide an even better result.
I'll second the Mixamp, Ear Force DSS, or even AX720 decoder box. They have optical digital inputs, though the Mixamp also has the RCA inputs you want, as well as a digital coaxial input. These amps are made mostly just for gaming, so if you want to use just a serious stereo amp, choosing a typical music amp would probably work out just fine for you.
In my case, I have my PS3's composite cables (for the analog audio) go into a RCA female to 3.5mm male cable that goes into the Fiio E9. I do that whenever I listen to music off my PS3. Sounds fantastic.
Edited by Mad Lust Envy - 11/21/10 at 10:38pm