First, ensure that you have an HDMI output from your receiver connected to an HDMI input on your TV.
Next, go into the receiver settings and set the receiver to "pass through" audio, assuming it is even capable of doing that (not all receivers have the same functionality).
I'll be honest though, if you have a receiver with surround speakers you are likely better off (from an audio quality standpoint) just letting the receiver/speakers handle the audio, and passing through the video to the TV.
Modern TV speakers are complete garbage, even on top of the line 4K TV's.
If it's an issue of latency, you can usually set an audio delay on the receiver so that the TV (who's video processing introduces latency to video playback) is in sync...