Check whether your Roku TV or Roku device supports Bluetooth audio
Put your AirPods in pairing mode by opening the case lid and pressing the setup button until the light flashes white
On your Roku TV, go to Settings
Select Remotes and devices
Select Bluetooth
Choose Pair new device
Select your AirPods from the list of available devices
Confirm the connection if prompted
If Bluetooth is not available on your Roku TV, use the Roku mobile app with private listening
Open the Roku mobile app on your phone
Connect the app to the same Roku TV
Start private listening in the app
Connect your AirPods to your phone through Bluetooth
Play audio through the Roku app while listening on your AirPods