Can I output video to my TV using a MacBook Pro?

Yes. You just need the right video and audio adapters.

Apple sells two adapters to connect your MacBook's Mini DisplayPort to DVI or VGA. Neither of those will include audio, so you'll also need to get audio cables. Your TV likely includes either optical or composite (RCA) jacks for one or more of your DVI or VGA connections.

For HDMI, you'll need a third-party adapter like this one. Note that this one does not carry audio either. The most recent 13" MBP does put audio out over that port, but I'm not aware of any adapters that can use the audio yet. That same site also sells third-party VGA and DVI adapters that are much cheaper than Apple's.

I can't vouch for the quality of the third-party adapters, but I buy most of my cables there, and I've always had good results.

Does your TV really only have HDMI audio input? No RCA or Toslink?

The blog post Playing Hulu from my Mac to my TV might give you some ideas for other methods you could try.