Yup, I went through this recently searching for a receiver that was Sennheiser friendly. Most companies dont publish headphone jack output impedance specs, so i went to Best Buy and Magnolia with my Sennheisers and Denons to physically check output impedance.
I tested Yamaha, Denon, Sony, Pioneer, Marantz, Rotel, Onkyo, and NAD. The only receivers that where low output impedance were the Pioneers. From the big expensive Class D AVRs down to the lowly $300 VSX series, they all tested low.
I ended up with a B-Stock VSX-1122 that drives my Sennheisers and speakers beautifully. Cost me $200 - less than most dedicated headphone amps. Unless you need a small footprint or portability, I think a receiver is a great way to go.