The proper method to do what you want is to use the pre-out connections on the back of your Onkyo receiver. These output 'line-level' audio signals that have not yet been amplified
There are pre-outs for each of the channels on you receiver. Just choose the channel/speakers you want to drive with an external amp and then use regular rca type audio cables to connect from the pre-outs to the inputs on the amp you buy. Then connect your speaker(s) to the back of your new external amp(s).
It's your choice on whether you want to use a few mono or stereo external amps or a single multi-channel amp. Using separate mono amps will technically provide the best channel separation but a single multi-channel amp would be the least expensive and probably the most convenient.
Hope this helps a bit,
Tim