If the Denon has a toslink (optical) digital port, you can use a mini-jack to toslink cable ($10-$200, depending). That's the best you're going to do.
If there isn't a digital-in on the reciever (iffy in 1995), then you're stuck with a mini-jack to RCA analogue cable.
I run a toslink into my reciever and it sounds pretty good.