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Cheapest option is to just use a HT receiver and leave out the center and surrounds. The HT receiver has a built in sub crossover.
Second option is to use a line level crossover like the paradyme x-30 or you could build something from Marchand or ESP. A 3 good channel amp like tha anthem MCA-III could power R/L and sub from one chassis.
There are sub amps that will take speaker level in and supply a high pass speaker level out for your mains, convert a lowpassed signal to line level then amplify that for the sub. I wouldn't want to put my main signal throgh anything like that.
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