Welcome to the Roku Community and thanks for posting regarding your inquiry of using Bluetooth with your Roku Steambar Pro.
If you are connected through HDMI (ARC) from your TV to your Roku Streambar Pro and are getting sound from when you are using your TV (not streaming on the Roku device), then you should be able to use your Apple Airpods to play the audio.
Hope this information helps. If you have any questions in the future, please don't hesitate to post in the Roku Community.
Roku Community Moderator