Are there any surround sound receivers that work with an HDMI cable alone?

Yes, many mid-level and higher A/V receivers can terminate and process the digital audio off their HDMI inputs while passing the digital video on to their HDMI output port(s).

As an example, the Sony STR-DG520 will only support digital audio & video passthrough (or switching) from its HDMI inputs while the Sony STR-DB820 is fully capable of processing the audio (Dolby Digital, DTS, & Linear PCM) on its HDMI inputs to the attached speakers.

Denon 1909, Yamaha 663, Pioneer 1018, Onkyo 606, Sony 920 and more.

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Yep. There are a good number of receivers that can handle audio decoding. My Onkyo TX-SR606, for example, has 4 HDMI-in ports and plays anything I send to it (including multi-channel PCM).