Hi there. I recently hooked up what used to be a Klipsch Promedia 5.1 Ultra system to two computers, my Mac Mini and my gaming PC. Initially, I simply took a standard stereo miniplug cable from the audio out jack on the mini and hooked it in to the headphone in slot on my Klipsch. However, this was only an analog stereo connection, without even any 5.1 emulation software. It sounded fair. This would be the easiest solution for you, although it really doesn't take advantage of your system.
For me, I wanted better sound than the stock underpowered amp was giving to my system, so I bought an open-box Denon A/V receiver for an unbelievable price and hooked it up the speakers. I also had a SVS 10" sub around to connect.
To connect the Mac Mini to my new receiver-based 5.1 system: I went to Fry's and bought a standard Toslink-Toslink optical cable by GE that actually came with the mini-Toslink adapters (3.5mm plugs). I connected the Mini optically to the optical in on my receiver. The Mini automatically detected the optical connection and sent it through. I now have a digital connection that while is only stereo initially, the receiver takes and puts in 5.1 via Dolby or DTS. It truly sounds marvelous. Also, while i haven't tested it yet, I do believe a DTS/DD DVD will pass-through in full 5.1 beauty.
The gaming PC digital audio solution is...well, to nobody's surprise (here, anyway), much more complex. I won't bother boring you with the details.
I hope I was slightly helpful, although I know you have a different setup. Good luck!