Option 1. Connect the firestick to the TV with HDMI and get audio to the receiver from the TV. You may need an active converter to connect the TV to the receiver. Check the manuals on how to configure the TV and receiver.
Option 2. Use an HDMI input selector with audio extraction. Connect the firestick and other HDMI sources to it. It will have analog and digital audio outputs. Use the one that is compatible with the receiver. Digital ones will be better if the receiver has digital inputs.