Do Made For iPhone hearing aids stream audio directly from Apple TV? If not, what's the best way to hear my TV better?

No you cannot connect currently to Apple TV.

The best way to achieve hearing your TV better if you want to utilise a made for iPhone hearing aid is to use the manufacturer's TV streamer, I have been able to achieve great improvements to speech understanding and sound quality for patients of all ages. 

Sound quality on modern TV's can be compromised due to how thin they are and the speakers fire down or back and in reality are not much better than laptop speakers.

Without streaming you could try going into the sound menu on your TV, if your issue is clarity increase the treble, switch off any pseudo surround effects and try switching from stereo to mono lots of my patients have reported that doing this will improve clarity.

As an alternative to a streamer you could try a system from Hypersound audio which sends a super directed beam of sound to the person who is sitting in the "sweet-spot" of the speakers and doesn't disturb normally hearing people listening to the TV with the impaired listener. One thing this won't do is allow the sound to travel with you as a streamer would it if you wanted to go to the kitchen to grab a coffee.

Made for iPhone hearing aids cannot currently stream the audio directly from an Apple TV. However; there are a few options if streaming TV through your hearing aids is truly important to you. Two options are a personal loop system connecting to hearing aids with T-coil or a Bluetooth TV connector.

Personal home or cushion loop systems are typically less expensive; however they have to either be installed (for the home loop) or hard wired to where you're sitting (cushion loop). 

A Bluetooth system for the TV is also available and are easy to set up and connect to. If your hearing aids themselves are Bluetooth you can stream the TV without having to wear a streamer around your neck. If your hearing aids are not Bluetooth then you will want to talk to your audiologist about a streamer as well as the TV connect. 

No hearing aids will work directly with Apple TV. All of the better known hearing aid brands have their own proprietary device for transmitting the signal from the TV. None use Bluetooth for this application. Widex for example has a TV Dex that uses a radio signal similar to that of a cordless telephone. The base attaches to the TV via RCA jacks or Optical Audio Output. The base then transmits to a small remote that you take back to your chair. The small remote transmits to the hearing aids.

Hearing aids can not connect directly to the Apple TV but from the audio source, usually the TV itself. There are 2 ways to accomplish this depending on the aid manufacturer and  the model of the hearing aid. The newer “Bluetooth” aids connect directly with a transmitter attached to the TV’s audio source. Non-bluetooth aids can usually stream from a similar transmitter by using an intermediary streaming device that connects the transmitter signal to the hearing aid. Contact your hearing care professional for the exact equipment required for your particular hearing aid. 

You may want to try a Surflink Media 2 Box.  It connects to your TV and streams the sound directly to your hearing aids. Here is some more information:   https://www.starkey.com/hearing-aids/surflink-wireless-accessories/surflink-media

Streaming from a TV is never direct to the hearing aids at this time. Ask your audiologist for the interface that allows for streaming the TV to the HA. 

The 2nd and 3rd generation Apple TV allows blue tooth compatibility only with a blue tooth key board. So direct streaming to your hearing aid is not possible. Depending on the type of hearing aids you have there will be an intermediary device that needs to be plugged into your TV....