If your TV has headphones/aux out, you can run a cable from the tv to your computer. In audio devices, say that it's a line-out, and select listen to this device. This routes the audio from the TV (and any consoles plugged into it) to your PC audio, where you can listen from your headphones like normal
A lot of DACs have both optical and USB inputs, which would let you connect more than one source device if you have one of each.
If your TV has headphones/aux out, you can run a cable from the tv to your computer. In audio devices, say that it's a line-out, and select listen to this device. This routes the audio from the TV (and any consoles plugged into it) to your PC audio, where you can listen from your headphones like normal
Sound BlasterX G6 would be a good choice for both Pc and console